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92 lines
3.5 KiB
92 lines
3.5 KiB
from cereal import log
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
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from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
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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] = NormalPermanentAlert("alert")
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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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self.events = Events()
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self.state_machine = StateMachine()
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self.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
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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.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
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self.state_machine.state = state
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self.state_machine.update(self.events)
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assert State.disabled == self.state_machine.state
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self.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.events.add(make_event([et, ET.USER_DISABLE]))
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self.state_machine.state = state
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self.state_machine.update(self.events)
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assert State.disabled == self.state_machine.state
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self.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.events.add(make_event([et, ET.SOFT_DISABLE]))
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self.state_machine.state = state
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self.state_machine.update(self.events)
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assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
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self.events.clear()
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def test_soft_disable_timer(self):
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self.state_machine.state = State.enabled
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self.events.add(make_event([ET.SOFT_DISABLE]))
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self.state_machine.update(self.events)
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for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
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assert self.state_machine.state == State.softDisabling
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self.state_machine.update(self.events)
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assert self.state_machine.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.events.add(make_event([ET.NO_ENTRY, et]))
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self.state_machine.update(self.events)
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assert self.state_machine.state == State.disabled
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self.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.state_machine.state = State.preEnabled
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self.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
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self.state_machine.update(self.events)
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assert self.state_machine.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.state_machine.state = state
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self.events.add(make_event([et]))
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self.state_machine.update(self.events)
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assert self.state_machine.state == state
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self.events.clear()
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