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102 lines
4.1 KiB
102 lines
4.1 KiB
from cereal import car, log
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.mock.values import CAR as MOCK
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
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from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
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AudibleAlert, EVENTS
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State = log.SelfdriveState.OpenpilotState
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# The event types that maintain the current state
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MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
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State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
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ALL_STATES = tuple(State.schema.enumerants.values())
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# The event types checked in DISABLED section of state machine
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ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
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def make_event(event_types):
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event = {}
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for ev in event_types:
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event[ev] = Alert("", "", AlertStatus.normal, AlertSize.small, Priority.LOW,
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VisualAlert.none, AudibleAlert.none, 1.)
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EVENTS[0] = event
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return 0
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class TestStateMachine:
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def setup_method(self):
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CarInterface, CarController, CarState = interfaces[MOCK.MOCK]
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CP = CarInterface.get_non_essential_params(MOCK.MOCK)
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CI = CarInterface(CP, CarController, CarState)
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self.controlsd = Controls(CI=CI)
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self.controlsd.events = Events()
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self.controlsd.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
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self.CS = car.CarState()
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def test_immediate_disable(self):
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for state in ALL_STATES:
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for et in MAINTAIN_STATES[state]:
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self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
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self.controlsd.state = state
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self.controlsd.state_transition(self.CS)
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assert State.disabled == self.controlsd.state
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self.controlsd.events.clear()
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def test_user_disable(self):
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for state in ALL_STATES:
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for et in MAINTAIN_STATES[state]:
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self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
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self.controlsd.state = state
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self.controlsd.state_transition(self.CS)
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assert State.disabled == self.controlsd.state
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self.controlsd.events.clear()
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def test_soft_disable(self):
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for state in ALL_STATES:
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if state == State.preEnabled: # preEnabled considers NO_ENTRY instead
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continue
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for et in MAINTAIN_STATES[state]:
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self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
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self.controlsd.state = state
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self.controlsd.state_transition(self.CS)
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assert self.controlsd.state == State.disabled if state == State.disabled else State.softDisabling
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self.controlsd.events.clear()
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def test_soft_disable_timer(self):
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self.controlsd.state = State.enabled
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self.controlsd.events.add(make_event([ET.SOFT_DISABLE]))
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self.controlsd.state_transition(self.CS)
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for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
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assert self.controlsd.state == State.softDisabling
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self.controlsd.state_transition(self.CS)
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assert self.controlsd.state == State.disabled
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def test_no_entry(self):
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# Make sure noEntry keeps us disabled
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for et in ENABLE_EVENT_TYPES:
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self.controlsd.events.add(make_event([ET.NO_ENTRY, et]))
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self.controlsd.state_transition(self.CS)
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assert self.controlsd.state == State.disabled
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self.controlsd.events.clear()
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def test_no_entry_pre_enable(self):
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# preEnabled with noEntry event
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self.controlsd.state = State.preEnabled
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self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
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self.controlsd.state_transition(self.CS)
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assert self.controlsd.state == State.preEnabled
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def test_maintain_states(self):
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# Given current state's event type, we should maintain state
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for state in ALL_STATES:
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for et in MAINTAIN_STATES[state]:
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self.controlsd.state = state
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self.controlsd.events.add(make_event([et]))
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self.controlsd.state_transition(self.CS)
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assert self.controlsd.state == state
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self.controlsd.events.clear()
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