Update opendbc_repo

sunnypilot/mads/mads.py

@@ -69,7 +69,7 @@ class ModularAssistiveDrivingSystem:
     return False
 
   def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
-    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and (CS.brakePressed or CS.regenBraking or self.pedal_pressed_non_gas_pressed(CS)):
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS):
       return False
 
     if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):

sunnypilot/mads/tests/test_mads_steering_mode.py

@@ -1,242 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import pytest
-
-from cereal import log, custom
-from opendbc.car import structs
-from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
-from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
-
-State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-EventName = log.OnroadEvent.EventName
-EventNameSP = custom.OnroadEventSP.EventName
-SafetyModel = structs.CarParams.SafetyModel
-
-
-def make_car_state(brake_pressed=False, regen_braking=False, standstill=False, v_ego=0.0):
-  cs = structs.CarState()
-  cs.brakePressed = brake_pressed
-  cs.regenBraking = regen_braking
-  cs.standstill = standstill
-  cs.vEgo = v_ego
-  cs.cruiseState.available = True
-  return cs
-
-
-def make_panda_state(mocker, controls_allowed_lateral=True):
-  ps = mocker.MagicMock()
-  ps.controlsAllowedLateral = controls_allowed_lateral
-  ps.safetyModel = SafetyModel.hyundai
-  return ps
-
-
-def make_mads(mocker, steering_mode):
-  sd = mocker.MagicMock()
-  sd.CP = structs.CarParams()
-  sd.CP.brand = "hyundai"
-  sd.CP_SP = structs.CarParamsSP()
-  sd.params = mocker.MagicMock()
-  sd.params.get_bool = mocker.MagicMock(side_effect=lambda k: {
-    "Mads": True, "MadsMainCruiseAllowed": False,
-    "DisengageOnAccelerator": True, "MadsUnifiedEngagementMode": False,
-  }.get(k, False))
-  sd.params.get = mocker.MagicMock(return_value=steering_mode)
-  sd.events = Events()
-  sd.events_sp = EventsSP()
-  sd.enabled = False
-  sd.enabled_prev = False
-  sd.initialized = True
-  sd.CS_prev = make_car_state()
-  sd.sm = {'pandaStates': [make_panda_state(mocker)]}
-  sd.state_machine = mocker.MagicMock()
-
-  mads = ModularAssistiveDrivingSystem(sd)
-  mads.enabled_toggle = True
-  mads.steering_mode_on_brake = steering_mode
-  return mads, sd
-
-
-def run_frames(mads, sd, cs, n=1):
-  for _ in range(n):
-    mads.update(cs)
-    sd.CS_prev = cs
-    sd.events.clear()
-    sd.events_sp.clear()
-
-
-# should_silent_lkas_enable across all modes
-
-class TestShouldSilentLkasEnable:
-  @pytest.mark.parametrize("brake,regen", [(True, False), (False, True)])
-  def test_pause_blocks_reenable_on_braking_at_standstill(self, mocker, brake, regen):
-    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
-    cs = make_car_state(brake_pressed=brake, regen_braking=regen, standstill=True)
-    assert mads.should_silent_lkas_enable(cs) is False
-
-  def test_pause_allows_reenable_on_brake_release(self, mocker):
-    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
-    cs = make_car_state(standstill=True)
-    assert mads.should_silent_lkas_enable(cs) is True
-
-  def test_remain_active_ignores_brake(self, mocker):
-    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
-    cs = make_car_state(brake_pressed=True, standstill=True)
-    assert mads.should_silent_lkas_enable(cs) is True
-
-  def test_disengage_ignores_brake_for_silent_enable(self, mocker):
-    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
-    cs = make_car_state(brake_pressed=True, standstill=True)
-    assert mads.should_silent_lkas_enable(cs) is True
-
-
-# pause
-
-class TestPauseMode:
-  def test_stays_paused_at_standstill_brake_held(self, mocker):
-    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
-    mads.state_machine.state = State.enabled
-    mads.enabled = True
-    mads.active = True
-
-    sd.events.add(EventName.pedalPressed)
-    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
-    assert mads.state_machine.state == State.paused
-
-    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
-    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
-    assert mads.state_machine.state == State.paused
-
-  def test_resumes_on_brake_release_at_standstill(self, mocker):
-    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
-    mads.state_machine.state = State.paused
-    mads.enabled = True
-    mads.active = False
-
-    run_frames(mads, sd, make_car_state(standstill=True))
-    assert mads.state_machine.state == State.enabled
-
-  def test_full_cycle_moving_to_standstill(self, mocker):
-    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
-    mads.state_machine.state = State.enabled
-    mads.enabled = True
-    mads.active = True
-
-    sd.events.add(EventName.pedalPressed)
-    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
-    assert mads.state_machine.state == State.paused
-
-    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
-    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
-    assert mads.state_machine.state == State.paused
-
-    sd.sm['pandaStates'] = [make_panda_state(mocker, True)]
-    run_frames(mads, sd, make_car_state(standstill=True))
-    assert mads.state_machine.state == State.enabled
-
-
-# disengage
-
-class TestDisengageMode:
-  def test_brake_while_enabled_disables(self, mocker):
-    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
-    mads.state_machine.state = State.enabled
-    mads.enabled = True
-    mads.active = True
-
-    sd.events.add(EventName.pedalPressed)
-    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=10.0))
-    assert mads.state_machine.state == State.disabled
-
-  def test_brake_sends_lkas_disable_when_enabled(self, mocker):
-    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
-    mads.state_machine.state = State.enabled
-    mads.enabled = True
-    mads.active = True
-
-    sd.events.add(EventName.pedalPressed)
-    mads.update_events(make_car_state(brake_pressed=True, v_ego=5.0))
-    assert sd.events_sp.has(EventNameSP.lkasDisable)
-
-
-# remain active
-
-class TestRemainActiveMode:
-  def test_brake_does_not_pause_or_disable(self, mocker):
-    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
-    mads.state_machine.state = State.enabled
-    mads.enabled = True
-    mads.active = True
-
-    sd.events.add(EventName.pedalPressed)
-    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=10.0))
-    assert mads.state_machine.state == State.enabled
-
-
-# lateral mismatch counter
-
-class TestLateralMismatchCounter:
-  def test_no_accumulation_while_paused(self, mocker):
-    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
-    mads.state_machine.state = State.paused
-    mads.enabled = True
-    mads.active = False
-    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
-
-    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
-    assert mads.lateral_mismatch_counter == 0
-
-  def test_accumulates_when_active_and_panda_disagrees(self, mocker):
-    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
-    mads.enabled = True
-    mads.active = True
-    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
-
-    for _ in range(200):
-      mads.data_sample()
-    assert mads.lateral_mismatch_counter == 200
-
-
-# brand restrictions
-
-class TestBrandSteeringModeRestrictions:
-  def test_rivian_forced_to_disengage(self, mocker):
-    CP = structs.CarParams()
-    CP.brand = "rivian"
-    CP_SP = structs.CarParamsSP()
-    params = mocker.MagicMock()
-    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
-    params.get.assert_not_called()
-
-  def test_tesla_without_vehicle_bus_forced_to_disengage(self, mocker):
-    CP = structs.CarParams()
-    CP.brand = "tesla"
-    CP_SP = structs.CarParamsSP()
-    CP_SP.flags = 0
-    params = mocker.MagicMock()
-    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
-
-  def test_tesla_with_vehicle_bus_uses_param(self, mocker):
-    CP = structs.CarParams()
-    CP.brand = "tesla"
-    CP_SP = structs.CarParamsSP()
-    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
-    params = mocker.MagicMock()
-    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
-    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE
-
-  @pytest.mark.parametrize("brand", ["hyundai", "toyota", "honda", "gm"])
-  def test_other_brands_use_param(self, mocker, brand):
-    CP = structs.CarParams()
-    CP.brand = brand
-    CP_SP = structs.CarParamsSP()
-    params = mocker.MagicMock()
-    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
-    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE