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tests: add overriding to state machine test (#24131)

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* add overriding to state machine test

* overriding should consider soft disable too
This commit is contained in:
Shane Smiskol
2022-04-05 11:36:18 -07:00
committed by GitHub
parent a953d8222d
commit d7a708d6da
2 changed files with 8 additions and 5 deletions
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selfdrive/controls/controlsd.py
+5 -1
View File
@@ -479,7 +479,11 @@ class Controls:
# OVERRIDING
elif self.state == State.overriding:
if not self.events.any(ET.OVERRIDE):
if self.events.any(ET.SOFT_DISABLE):
self.state = State.softDisabling
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.current_alert_types.append(ET.SOFT_DISABLE)
elif not self.events.any(ET.OVERRIDE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.OVERRIDE)
selfdrive/controls/tests/test_state_machine.py
+3 -4
View File
@@ -12,11 +12,10 @@ State = log.ControlsState.OpenpilotState
# The event types that maintain the current state
MAINTAIN_STATES = {State.enabled: None, State.disabled: None, State.softDisabling: ET.SOFT_DISABLE,
State.preEnabled: ET.PRE_ENABLE}
ALL_STATES = tuple((state for state in State.schema.enumerants.values() if
state != State.overriding)) # TODO: remove overriding exception
State.preEnabled: ET.PRE_ENABLE, State.overriding: ET.OVERRIDE}
ALL_STATES = tuple(State.schema.enumerants.values())
# The event types checked in DISABLED section of state machine
ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE)
ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE)
def make_event(event_types):