github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
97 lines
3.0 KiB
Python
97 lines
3.0 KiB
Python
import copy
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import json
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import os
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import random
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from openpilot.common.test import OpenpilotTestCase
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from openpilot.cereal import log
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from opendbc.car.structs import car
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from openpilot.cereal.messaging import SubMaster
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET
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from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
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from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
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AlertSize = log.SelfdriveState.AlertSize
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OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "openpilot/selfdrive/selfdrived/alerts_offroad.json")
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# TODO: add callback alerts
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ALERTS = []
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for event_types in EVENTS.values():
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for alert in event_types.values():
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ALERTS.append(alert)
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class TestAlerts(OpenpilotTestCase):
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@classmethod
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def setup_class(cls):
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with open(OFFROAD_ALERTS_PATH) as f:
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cls.offroad_alerts = json.loads(f.read())
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# Create fake objects for callback
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cls.CS = car.CarState.new_message()
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cls.CP = car.CarParams.new_message()
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cfg = [c for c in CONFIGS if c.proc_name == 'selfdrived'][0]
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cls.sm = SubMaster(cfg.pubs)
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def test_events_defined(self):
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# Ensure all events in capnp schema are defined in events.py
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events = log.OnroadEvent.EventName.schema.enumerants
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for name, e in events.items():
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if not name.endswith("DEPRECATED") and not name.startswith("eventReserved"):
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fail_msg = f"{name} @{e} not in EVENTS"
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assert e in EVENTS.keys(), fail_msg
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def test_alert_sanity_check(self):
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for event_types in EVENTS.values():
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for event_type, a in event_types.items():
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# TODO: add callback alerts
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if not isinstance(a, Alert):
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continue
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if a.alert_size == AlertSize.none:
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assert len(a.alert_text_1) == 0
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assert len(a.alert_text_2) == 0
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elif a.alert_size == AlertSize.small:
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assert len(a.alert_text_1) > 0
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assert len(a.alert_text_2) == 0
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elif a.alert_size == AlertSize.mid:
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assert len(a.alert_text_1) > 0
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assert len(a.alert_text_2) > 0
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else:
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assert len(a.alert_text_1) > 0
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assert a.duration >= 0.
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if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE):
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assert a.creation_delay == 0.
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def test_offroad_alerts(self):
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params = Params()
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for a in self.offroad_alerts:
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# set the alert
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alert = copy.copy(self.offroad_alerts[a])
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set_offroad_alert(a, True)
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alert['extra'] = ''
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assert alert == params.get(a)
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# then delete it
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set_offroad_alert(a, False)
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assert params.get(a) is None
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def test_offroad_alerts_extra_text(self):
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params = Params()
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for i in range(50):
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# set the alert
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a = random.choice(list(self.offroad_alerts))
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alert = self.offroad_alerts[a]
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set_offroad_alert(a, True, extra_text="a"*i)
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written_alert = params.get(a)
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assert "a"*i == written_alert['extra']
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assert alert["text"] == written_alert['text']
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