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https://github.com/firestar5683/StarPilot.git
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firestar5683
99 lines
5.0 KiB
Python
99 lines
5.0 KiB
Python
from collections import deque
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from types import SimpleNamespace as NS
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import pytest
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from openpilot.cereal import messaging
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from openpilot.common.params import Params
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from openpilot.starpilot.controllers.cruise_action import CruiseActionPublisher
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from openpilot.starpilot.controllers.mode_actions import ModeActionPublisher, ModeIntent, publish_switchback
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from openpilot.starpilot.controllers.tests.test_wheel_actions import Publisher, candidate, services, DRIVE, NOW
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from openpilot.starpilot.controllers.wheel_actions import WheelPublisher, WheelConsumer
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from openpilot.starpilot.favorites.actions import BOOKMARK, SET_SPEED, TRAFFIC, FORCE_COAST
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from openpilot.starpilot.favorites.owner import FavoritesOwner, default_slots
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from openpilot.starpilot.ui.onroad_state import OnroadState, SpeedLimitObservation
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from openpilot.starpilot.ui.shell import ShellMode
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@pytest.fixture
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def native_session(tmp_path, monkeypatch):
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from openpilot.starpilot.ui import runtime_app
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from openpilot.selfdrive.ui import ui_state as module
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params = Params(str(tmp_path))
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_, cp = candidate(False)
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sm = services(cp)
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sm['selfdriveState'] = NS(enabled=True)
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status = publish_switchback(None, ModeIntent(DRIVE, False, False), session='b' * 32,
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sequence=1, now_ns=NOW, source_car_control_ns=NOW)
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sm['slcState'] = status.slcState
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for key in ('selfdriveState', 'slcState'):
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sm.logMonoTime[key], sm.recv_time[key] = NOW, NOW / 1e9
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sm.seen[key] = sm.alive[key] = sm.valid[key] = True
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ui = NS(CP=cp, sm=sm, params=params, has_longitudinal_control=True, personality=0, started_frame=1)
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monkeypatch.setattr(runtime_app, 'ui_state', ui)
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monkeypatch.setattr(runtime_app.time, 'monotonic_ns', lambda: NOW)
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monkeypatch.setattr(module, 'device', NS(awake=True, toggle_screen_off=lambda: True))
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sender = Publisher()
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monkeypatch.setattr(runtime_app, '_slc_action_publisher', lambda: sender)
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session = runtime_app.StarShellSession.__new__(runtime_app.StarShellSession)
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session._mode = ShellMode.ONROAD
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state = OnroadState(True, True, 15, 80, SpeedLimitObservation())
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vars(session)['snapshot'] = lambda *_: NS(onroad=state)
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vars(session)['_favorite_authority'] = lambda: True
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vars(session)['_conditional_favorite_active'] = lambda: False
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session.mode_actions, session.cruise_actions = ModeActionPublisher(), CruiseActionPublisher()
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session._wheel_personality = None
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session._wheel_consumer, session._wheel_pending = WheelConsumer(), deque(maxlen=32)
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session._wheel_sock = object()
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session.slc_actions = None
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calls = []
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session._native_favorite_actions = lambda: session.native_favorite_actions(lambda: calls.append('bookmark') or True,
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lambda value: calls.append(value), lambda: True)
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session.favorites_owner = FavoritesOwner(params, session._native_favorite_actions, lambda: True)
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return runtime_app, session, ui, sender, calls
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def test_actual_favorite_value_callback_reads_units_and_publishes_absolute_receipt(native_session):
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_, session, ui, sender, _ = native_session
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ui.params.put('IsMetric', True, block=True)
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slots = default_slots()
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slots[0].update(enabled=True, key=SET_SPEED, label='Set speed', value=55)
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owner = session.favorites_owner
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owner.save(slots, owner.snapshot().revision)
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request = owner.snapshot().slots[0].request
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assert owner.invoke(request).success
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event = messaging.log_from_bytes(sender.events[-1][1])
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assert str(event.slcAction.kind) == 'cruiseSet'
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assert event.slcAction.controllerCruise.targetSpeedMps == pytest.approx(55 / 3.6)
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vars(session)['_favorite_authority'] = lambda: False
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assert not owner.invoke(owner.snapshot().slots[0].request).success
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assert len(sender.events) == 1
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def test_card_receipt_invokes_real_native_bookmark_and_quick_select_callback(native_session, monkeypatch):
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runtime, session, ui, _, calls = native_session
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source, publisher = WheelPublisher(ui.params), Publisher()
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queue = []
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monkeypatch.setattr(runtime.messaging, 'recv_one_or_none', lambda _: queue.pop(0) if queue else None)
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for sequence, code in enumerate((8, 11), start=1):
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ui.params.put('DistanceButtonControl', code, block=True)
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if code == 11:
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owner = session.favorites_owner
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assert owner.configure_index(0, BOOKMARK, owner.snapshot().revision)
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source.publish((('DistanceButtonControl', code),), ui.CP, publisher, now_ns=NOW, drive_id=DRIVE,
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source_car_ns=NOW, source_control_ns=NOW)
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queue.append(messaging.log_from_bytes(publisher.events[-1][1]))
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session._poll_wheel(NOW)
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assert len(calls) == sequence
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assert calls == ['bookmark', 'bookmark']
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def test_actual_native_traffic_and_coast_callbacks_emit_owner_requests(native_session):
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_, session, _, sender, _ = native_session
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actions = session._native_favorite_actions()
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assert actions[TRAFFIC].invoke()
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session.mode_actions.last_ns = 0
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assert actions[FORCE_COAST].invoke()
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assert [str(messaging.log_from_bytes(raw).slcAction.kind) for _, raw in sender.events] == [
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'trafficModeToggle', 'forceCoastToggle']
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