github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
69 lines
2.8 KiB
Python
69 lines
2.8 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from opendbc.car.structs import car
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from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
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from openpilot.common.test import OpenpilotTestCase
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ButtonEvent = car.CarState.ButtonEvent
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ButtonType = car.CarState.ButtonEvent.Type
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class TestButtonStateTracker(OpenpilotTestCase):
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def setup_method(self) -> None:
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self.tracker = ButtonStateTracker()
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def make_cs(self, events: list) -> car.CarState:
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CS = car.CarState()
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CS.buttonEvents = events
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return CS
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def test_initial_state(self) -> None:
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assert self.tracker.pressed == 0
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assert self.tracker.release_toggle == 0
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def test_press_sets_bit(self) -> None:
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
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assert self.tracker.pressed == (1 << ButtonType.accelCruise)
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assert self.tracker.release_toggle == 0
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def test_release_clears_and_toggles(self) -> None:
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
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assert self.tracker.pressed == 0
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assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
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def test_multiple_buttons(self) -> None:
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self.tracker.update(self.make_cs([
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ButtonEvent(type=ButtonType.accelCruise, pressed=True),
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ButtonEvent(type=ButtonType.decelCruise, pressed=True),
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]))
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assert self.tracker.pressed == (1 << ButtonType.accelCruise) | (1 << ButtonType.decelCruise)
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
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assert self.tracker.pressed == (1 << ButtonType.decelCruise)
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assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
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def test_release_toggle_flips(self) -> None:
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for _ in range(2):
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=True)]))
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=False)]))
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assert self.tracker.release_toggle == 0
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def test_publish(self) -> None:
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]))
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self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
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class MockSP:
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buttonsPressed = 0
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buttonsReleaseToggle = 0
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sp = MockSP()
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self.tracker.publish(sp)
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assert sp.buttonsPressed == self.tracker.pressed
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assert sp.buttonsReleaseToggle == self.tracker.release_toggle
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