mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-08 16:03:50 +08:00
Isaac Barham
62 lines
3.4 KiB
Python
62 lines
3.4 KiB
Python
from pathlib import Path
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import tempfile
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from types import SimpleNamespace
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import unittest
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from opendbc.car.ford.values import FordFlags
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from openpilot.selfdrive.controls.lib.ford_path import FordPathController, FordPscmObserverPathController
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from openpilot.selfdrive.controls.lib.ford_virtual_angle import (
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FordVirtualAngleController, select_virtual_angle_controller,
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)
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def car_params(**kwargs):
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values = {'brand': 'ford', 'flags': FordFlags.CANFD, 'carFingerprint': 'FORD_F_150_LIGHTNING_MK1',
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'steerActuatorDelay': 0.2, 'carFw': [SimpleNamespace(ecu='eps', fwVersion=b'RL38-14D003-AA')]}
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values.update(kwargs)
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return SimpleNamespace(**values)
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class TestVirtualAngleSelection(unittest.TestCase):
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def test_opt_in_and_exact_vehicle_scope(self):
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for previous in (FordPathController(), FordPscmObserverPathController()):
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self.assertIs(select_virtual_angle_controller(car_params(), False, previous), previous)
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for overrides in ({'brand': 'tesla'}, {'flags': 0}, {'carFingerprint': 'FORD_F_150_MK14'}):
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self.assertIs(select_virtual_angle_controller(car_params(**overrides), True, previous), previous)
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self.assertIsInstance(select_virtual_angle_controller(car_params(), True, previous), FordVirtualAngleController)
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def test_toggle_controls_selection_independently_of_firmware_query(self):
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for firmware in ([], [SimpleNamespace(ecu='engine', fwVersion=b'engine')],
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[SimpleNamespace(ecu='eps', fwVersion=b'RL38-14D003-AA')],
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[SimpleNamespace(ecu='eps', fwVersion=b'other')]):
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for previous in (FordPathController(), FordPscmObserverPathController()):
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with self.subTest(firmware=firmware, previous=type(previous).__name__):
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cp = car_params(carFw=firmware, steerActuatorDelay=.3)
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self.assertIs(select_virtual_angle_controller(cp, False, previous), previous)
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chosen = select_virtual_angle_controller(cp, True, previous)
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self.assertIsInstance(chosen, FordVirtualAngleController)
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self.assertEqual(chosen.delay, .3)
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def test_old_setting_cannot_enable_new_controller(self):
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from openpilot.common.params import Params
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with tempfile.TemporaryDirectory(prefix='ford-virtual-params-') as directory:
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params = Params(directory)
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# Simulate a stored key left on an upgraded device; it is no longer registered.
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Path(params.get_param_path('FordSharedPathController')).write_text('1')
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self.assertNotIn(b'FordSharedPathController', params.all_keys())
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self.assertIs(params.get_default_value('FordVirtualAngleController'), False)
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self.assertFalse(params.get_bool('FordVirtualAngleController'))
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previous = FordPathController()
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# Route83 had the toggle on but no EPS firmware records in CarParams.
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cp = car_params(carFw=[])
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self.assertIs(select_virtual_angle_controller(cp, params.get_bool('FordVirtualAngleController'), previous), previous)
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params.put_bool('FordVirtualAngleController', True, block=True)
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chosen = select_virtual_angle_controller(cp, params.get_bool('FordVirtualAngleController'), previous)
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params.put_bool('FordVirtualAngleController', False, block=True)
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self.assertIsInstance(chosen, FordVirtualAngleController) # only selected at startup
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self.assertIs(select_virtual_angle_controller(cp, params.get_bool('FordVirtualAngleController'), previous), previous)
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if __name__ == '__main__':
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unittest.main()
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