IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/controls/lib/helpers/tests/test_e2e_alerts.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from types import SimpleNamespace
+
+import pytest
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.cereal import custom
+from iqpilot.common.realtime import DT_MDL
+from iqpilot.selfdrive.controls.lib.helpers.e2e_alerts import (
+  EndToEndAlertEngine, CONFIRM_S, SETTLE_S, HORIZON_TAIL, PATH_SPEED_MPS, LEAD_SPEED_MPS, LEAD_GAP_M)
+
+E2E_CHIME = custom.IQOnroadEvent.EventName.e2eChime
+
+
+class _Events(list):
+  def add(self, name):
+    self.append(name)
+
+
+def _model(horizon):
+  msg = messaging.new_message('modelV2')
+  msg.modelV2.velocity.x = [0.0] * (33 - HORIZON_TAIL) + [horizon] * HORIZON_TAIL
+  return msg.as_reader().modelV2
+
+
+def _sm(*, v_ego=0.0, standstill=True, gas=False, enabled=False, cruise=False,
+        horizon=0.0, lead=None):
+  lead = lead or SimpleNamespace(status=False, dRel=0.0, vLead=0.0)
+  return {
+    'carState': SimpleNamespace(vEgo=v_ego, standstill=standstill, gasPressed=gas,
+                                cruiseState=SimpleNamespace(enabled=cruise)),
+    'selfdriveState': SimpleNamespace(enabled=enabled),
+    'radarState': SimpleNamespace(leadOne=lead),
+    'modelV2': _model(horizon),
+  }
+
+
+def _engine(path=True, lead=True):
+  engine = EndToEndAlertEngine()
+  engine._refresh_params = lambda: None
+  engine._on = {"path": path, "lead": lead}
+  return engine
+
+
+def _run(engine, sm, seconds):
+  events = _Events()
+  chimes = 0
+  for _ in range(int(seconds / DT_MDL)):
+    engine.update(sm, events)
+    chimes += events.count(E2E_CHIME)
+    events.clear()
+  return chimes
+
+
+def _lead(d_rel, v_lead=0.0):
+  return SimpleNamespace(status=True, dRel=d_rel, vLead=v_lead)
+
+
+def test_path_opens_chimes_once():
+  engine = _engine()
+  assert _run(engine, _sm(horizon=0.0), SETTLE_S + 1.0) == 0
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0), CONFIRM_S + 1.0) == 1
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0), 5.0) == 0
+
+
+def test_path_needs_the_settle_dwell():
+  engine = _engine()
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0), SETTLE_S - 0.2) == 0
+
+
+def test_path_silent_while_openpilot_long_is_engaged():
+  engine = _engine()
+  _run(engine, _sm(horizon=0.0, enabled=True), SETTLE_S + 1.0)
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0, enabled=True), 5.0) == 0
+
+
+def test_path_silent_while_stock_acc_holds_the_car():
+  engine = _engine()
+  _run(engine, _sm(horizon=0.0, cruise=True), SETTLE_S + 1.0)
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0, cruise=True), 5.0) == 0
+
+
+def test_path_chimes_under_aol():
+  engine = _engine()
+  _run(engine, _sm(horizon=0.0), SETTLE_S + 1.0)
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0), CONFIRM_S + 1.0) == 1
+
+
+def test_path_ignores_a_visible_lead():
+  engine = _engine(lead=False)
+  _run(engine, _sm(horizon=0.0, lead=_lead(6.0)), SETTLE_S + 1.0)
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0, lead=_lead(6.0)), 5.0) == 0
+
+
+def test_lead_pullaway_chimes_once():
+  engine = _engine()
+  assert _run(engine, _sm(lead=_lead(6.0)), SETTLE_S + 1.0) == 0
+  moving = _sm(lead=_lead(6.0 + LEAD_GAP_M + 0.5, LEAD_SPEED_MPS + 1.0))
+  assert _run(engine, moving, CONFIRM_S + 1.0) == 1
+  assert _run(engine, moving, 5.0) == 0
+
+
+def test_lead_creep_inside_the_gap_stays_silent():
+  engine = _engine()
+  _run(engine, _sm(lead=_lead(6.0)), SETTLE_S + 1.0)
+  assert _run(engine, _sm(lead=_lead(6.0 + LEAD_GAP_M / 2, LEAD_SPEED_MPS + 1.0)), 5.0) == 0
+
+
+def test_lead_far_ahead_is_not_a_queue():
+  engine = _engine()
+  _run(engine, _sm(lead=_lead(40.0)), SETTLE_S + 1.0)
+  assert _run(engine, _sm(lead=_lead(44.0, LEAD_SPEED_MPS + 1.0)), 5.0) == 0
+
+
+def test_gas_and_motion_rearm_the_dwell():
+  engine = _engine()
+  _run(engine, _sm(horizon=0.0), SETTLE_S + 1.0)
+  _run(engine, _sm(v_ego=5.0, standstill=False, horizon=8.0), 2.0)
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0), SETTLE_S - 0.2) == 0
+  assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0), CONFIRM_S + 1.0) == 1
+
+
+@pytest.mark.parametrize("param_off", ["path", "lead"])
+def test_each_param_gates_only_its_own_trigger(param_off):
+  engine = _engine(path=param_off != "path", lead=param_off != "lead")
+  if param_off == "path":
+    _run(engine, _sm(horizon=0.0), SETTLE_S + 1.0)
+    assert _run(engine, _sm(horizon=PATH_SPEED_MPS + 2.0), 5.0) == 0
+  else:
+    _run(engine, _sm(lead=_lead(6.0)), SETTLE_S + 1.0)
+    assert _run(engine, _sm(lead=_lead(8.0, LEAD_SPEED_MPS + 1.0)), 5.0) == 0