openpilot_comma/selfdrive/selfdrived/tests/test_state_machine.py

from cereal import log
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert

State = log.SelfdriveState.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,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
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, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)


def make_event(event_types):
  event = {}
  for ev in event_types:
    event[ev] = NormalPermanentAlert("alert")
  EVENTS[0] = event
  return 0


class TestStateMachine:
  def setup_method(self):
    self.events = Events()
    self.state_machine = StateMachine()
    self.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)

  def test_immediate_disable(self):
    for state in ALL_STATES:
      for et in MAINTAIN_STATES[state]:
        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
        self.state_machine.state = state
        self.state_machine.update(self.events)
        assert State.disabled == self.state_machine.state
        self.events.clear()

  def test_user_disable(self):
    for state in ALL_STATES:
      for et in MAINTAIN_STATES[state]:
        self.events.add(make_event([et, ET.USER_DISABLE]))
        self.state_machine.state = state
        self.state_machine.update(self.events)
        assert State.disabled == self.state_machine.state
        self.events.clear()

  def test_soft_disable(self):
    for state in ALL_STATES:
      if state == State.preEnabled:  # preEnabled considers NO_ENTRY instead
        continue
      for et in MAINTAIN_STATES[state]:
        self.events.add(make_event([et, ET.SOFT_DISABLE]))
        self.state_machine.state = state
        self.state_machine.update(self.events)
        assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
        self.events.clear()

  def test_soft_disable_timer(self):
    self.state_machine.state = State.enabled
    self.events.add(make_event([ET.SOFT_DISABLE]))
    self.state_machine.update(self.events)
    for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
      assert self.state_machine.state == State.softDisabling
      self.state_machine.update(self.events)

    assert self.state_machine.state == State.disabled

  def test_no_entry(self):
    # Make sure noEntry keeps us disabled
    for et in ENABLE_EVENT_TYPES:
      self.events.add(make_event([ET.NO_ENTRY, et]))
      self.state_machine.update(self.events)
      assert self.state_machine.state == State.disabled
      self.events.clear()

  def test_no_entry_pre_enable(self):
    # preEnabled with noEntry event
    self.state_machine.state = State.preEnabled
    self.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
    self.state_machine.update(self.events)
    assert self.state_machine.state == State.preEnabled

  def test_maintain_states(self):
    # Given current state's event type, we should maintain state
    for state in ALL_STATES:
      for et in MAINTAIN_STATES[state]:
        self.state_machine.state = state
        self.events.add(make_event([et]))
        self.state_machine.update(self.events)
        assert self.state_machine.state == state
        self.events.clear()