mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
166 lines
8.7 KiB
Python
166 lines
8.7 KiB
Python
"""Saved Ioniq runtime startup does not replace live driving authority."""
|
|
|
|
from pathlib import Path
|
|
import json
|
|
from tempfile import TemporaryDirectory
|
|
from unittest.mock import patch
|
|
|
|
from openpilot.starpilot.conditional_mode.policy import ModeChoice
|
|
from openpilot.starpilot.conditional_mode.preferences import SavedPreferences, encode_preferences
|
|
from openpilot.starpilot.feature_runtime import enabled, requested
|
|
from openpilot.starpilot.longitudinal.profile_document import default_personality_profiles, profile_document
|
|
from openpilot.starpilot.speed_limits.vision_gate import diagnostic_choice_enabled
|
|
|
|
|
|
class Files:
|
|
def __init__(self, root: Path):
|
|
self.root = root
|
|
|
|
def get_param_path(self, key: str) -> str:
|
|
return str(self.root / key)
|
|
|
|
def get_default_value(self, key: str):
|
|
assert key in ('CustomPersonalities', 'LongitudinalPersonalityProfiles')
|
|
return b'0' if key == 'CustomPersonalities' else {}
|
|
|
|
|
|
def test_readable_absence_starts_factory_cem_only_on_exact_eligible_cp():
|
|
with TemporaryDirectory() as temporary:
|
|
params = Files(Path(temporary))
|
|
with patch('openpilot.starpilot.feature_runtime.ioniq6_long_eligible', side_effect=lambda cp: cp == 'tagged'):
|
|
assert requested(params, 'conditional')
|
|
assert enabled(params, 'tagged', 'conditional', {})
|
|
assert not enabled(params, 'other', 'conditional', {})
|
|
for name in ('curve', 'slc', 'vision', 'profile'):
|
|
assert not enabled(params, object(), name, {})
|
|
(params.root / 'SafeMode').write_bytes(b'1')
|
|
assert not requested(params, 'conditional')
|
|
(params.root / 'SafeMode').write_bytes(b'0')
|
|
(params.root / 'ConditionalModeConfig').write_bytes(b'{broken')
|
|
(params.root / 'CurveSpeedController').write_bytes(b'true')
|
|
assert not requested(params, 'conditional')
|
|
assert not requested(params, 'curve')
|
|
(params.root / 'ConditionalModeConfig').unlink()
|
|
(params.root / 'ConditionalModeConfig').mkdir()
|
|
assert not requested(params, 'conditional') # Read error is never factory absence.
|
|
|
|
|
|
def test_exact_tagged_cp_and_saved_document_start_owner_without_granting_other_cars():
|
|
with TemporaryDirectory() as temporary:
|
|
params = Files(Path(temporary))
|
|
(params.root / 'ConditionalModeConfig').write_bytes(encode_preferences(SavedPreferences(mode=ModeChoice.STOCK)))
|
|
(params.root / 'CurveSpeedController').write_bytes(b'1')
|
|
with patch('openpilot.starpilot.feature_runtime.ioniq6_long_eligible', side_effect=lambda cp: cp == 'tagged'):
|
|
for name in ('conditional', 'curve'):
|
|
assert enabled(params, 'tagged', name, {})
|
|
assert not enabled(params, 'stock', name, {})
|
|
(params.root / 'SafeMode').write_bytes(b'1')
|
|
assert not enabled(params, 'tagged', 'conditional', {})
|
|
|
|
|
|
def test_global_braking_choice_starts_only_qualified_profile_owner_without_custom_master():
|
|
with TemporaryDirectory() as temporary:
|
|
params = Files(Path(temporary))
|
|
source = params.root / 'LongitudinalPersonalityProfiles'
|
|
with patch('openpilot.starpilot.feature_runtime.ioniq6_long_eligible', side_effect=lambda cp: cp == 'tagged'):
|
|
assert requested(params, 'profile')
|
|
assert enabled(params, 'tagged', 'profile', {})
|
|
assert not enabled(params, 'stock', 'profile', {})
|
|
for response in ('eco', 'sport'):
|
|
source.write_text(json.dumps(profile_document(default_personality_profiles(False), enabled=False,
|
|
global_braking_response=response)))
|
|
assert requested(params, 'profile')
|
|
assert enabled(params, 'tagged', 'profile', {})
|
|
assert not enabled(params, 'stock', 'profile', {})
|
|
source.write_text(json.dumps(profile_document(default_personality_profiles(False), enabled=False,
|
|
selected_deceleration_profile='dom_default')))
|
|
assert not requested(params, 'profile')
|
|
bad = profile_document(default_personality_profiles(False), enabled=False)
|
|
bad['globalBrakingResponse'] = 'unsupported'
|
|
source.write_text(json.dumps(bad))
|
|
assert not requested(params, 'profile')
|
|
source.write_text('{invalid')
|
|
assert not requested(params, 'profile')
|
|
(params.root / 'SafeMode').write_bytes(b'corrupt')
|
|
assert not enabled(params, 'tagged', 'conditional', {})
|
|
|
|
|
|
def test_vision_control_needs_saved_master_and_vision_source_on_exact_long_cp():
|
|
with TemporaryDirectory() as temporary:
|
|
params = Files(Path(temporary))
|
|
(params.root / 'SpeedLimitController').write_bytes(b'1')
|
|
(params.root / 'SLCPriority1').write_bytes(b'Dashboard')
|
|
(params.root / 'SLCPriority2').write_bytes(b'Vision')
|
|
with patch('openpilot.starpilot.feature_runtime.ioniq6_long_eligible', side_effect=lambda cp: cp == 'tagged'):
|
|
assert requested(params, 'vision')
|
|
assert enabled(params, 'tagged', 'vision', {})
|
|
assert not enabled(params, 'stock', 'vision', {})
|
|
(params.root / 'SpeedLimitController').write_bytes(b'0')
|
|
assert not enabled(params, 'tagged', 'vision', {})
|
|
|
|
|
|
def test_explicit_replay_flags_remain_available_for_existing_replay_fixtures():
|
|
with TemporaryDirectory() as temporary:
|
|
params = Files(Path(temporary))
|
|
assert enabled(params, None, 'conditional', {'CONDITIONAL_MODE_REPLAY_RUNTIME': '1'})
|
|
assert enabled(params, None, 'curve', {'CURVE_REPLAY_RUNTIME': '1'})
|
|
assert enabled(params, None, 'slc', {'SLC_REPLAY_RUNTIME': '1'})
|
|
assert enabled(params, None, 'vision', {'SLC_REPLAY_RUNTIME': '1', 'SLC_VISION_DEVELOPMENT': '1'})
|
|
assert not enabled(params, None, 'vision', {'SLC_VISION_DEVELOPMENT': '1'})
|
|
|
|
|
|
def test_saved_vision_choice_is_offered_only_for_supported_vehicle_or_explicit_replay():
|
|
with patch('openpilot.starpilot.speed_limits.vision_gate.ioniq6_settings_capable',
|
|
side_effect=lambda cp: cp == 'reviewed_ioniq'):
|
|
assert diagnostic_choice_enabled({}, 'reviewed_ioniq')
|
|
assert not diagnostic_choice_enabled({}, 'stock_or_other')
|
|
assert not diagnostic_choice_enabled({})
|
|
assert diagnostic_choice_enabled({'SLC_REPLAY_RUNTIME': '1', 'SLC_VISION_DEVELOPMENT': '1'})
|
|
|
|
|
|
def test_gm_saved_profiles_require_existing_longitudinal_owner():
|
|
from opendbc.car.gm.tests.test_bolt_pedal import params as pedal_params
|
|
from opendbc.car.gm.tests.test_ascm_intercept import params as ascm_params
|
|
from opendbc.car.gm.values import CAR, PEDAL_BOLT_CAR, GMSafetyFlags
|
|
from opendbc.car.gm.profiles import profiles_supported
|
|
|
|
from openpilot.common.params import Params
|
|
|
|
with TemporaryDirectory() as temporary:
|
|
params = Params(temporary)
|
|
root = Path(params.get_param_path('CustomPersonalities')).parent
|
|
(root / 'CustomPersonalities').write_bytes(b'1')
|
|
(root / 'LongitudinalPersonalityProfiles').write_text(json.dumps(
|
|
profile_document(default_personality_profiles(True), enabled=True)))
|
|
for alpha in (False, True):
|
|
for candidate in PEDAL_BOLT_CAR:
|
|
cp = pedal_params(candidate, setting=True, pedal=True, alpha_long=alpha)
|
|
assert enabled(params, cp, 'profile', {})
|
|
assert enabled(params, cp, 'conditional', {})
|
|
for field in ('passive', 'dashcamOnly', 'notCar'):
|
|
setattr(cp, field, True)
|
|
assert not enabled(params, cp, 'profile', {})
|
|
setattr(cp, field, False)
|
|
cp.openpilotLongitudinalControl = False
|
|
assert not enabled(params, cp, 'profile', {})
|
|
assert enabled(params, pedal_params(candidate, setting=False, pedal=True, alpha_long=alpha), 'profile', {})
|
|
assert enabled(params, ascm_params(CAR.CHEVROLET_BOLT_EUV, alpha=alpha), 'profile', {}) == alpha
|
|
assert enabled(params, ascm_params(CAR.CHEVROLET_BOLT_ACC_2022_2023, alpha=alpha), 'profile', {}) == alpha
|
|
cp = ascm_params(CAR.CHEVROLET_VOLT_ASCM, sascm=True, alpha=alpha)
|
|
assert enabled(params, cp, 'profile', {}) == alpha
|
|
assert not enabled(params, ascm_params(CAR.CHEVROLET_VOLT_ASCM, sascm=False, alpha=alpha), 'profile', {})
|
|
cp = ascm_params(CAR.CHEVROLET_VOLT, radar=True)
|
|
assert profiles_supported(cp)
|
|
assert enabled(params, cp, 'profile', {})
|
|
cp.safetyConfigs[0].safetyParam |= int(GMSafetyFlags.NO_ACC)
|
|
assert not profiles_supported(cp)
|
|
assert not enabled(params, ascm_params(CAR.CHEVROLET_VOLT_CAMERA), 'profile', {})
|
|
assert not enabled(params, ascm_params(CAR.CHEVROLET_VOLT_2019), 'profile', {})
|
|
(root / 'CustomPersonalities').write_bytes(b'0')
|
|
(root / 'LongitudinalPersonalityProfiles').write_text(json.dumps(
|
|
profile_document(default_personality_profiles(True), enabled=True, selected_deceleration_profile='dom_default')))
|
|
assert not enabled(params, ascm_params(CAR.CHEVROLET_VOLT, radar=True), 'profile', {})
|
|
(root / 'CustomPersonalities').write_bytes(b'1')
|
|
(root / 'LongitudinalPersonalityProfiles').write_text('{broken')
|
|
assert not enabled(params, ascm_params(CAR.CHEVROLET_VOLT, radar=True), 'profile', {})
|