164 lines
6.4 KiB
Python
164 lines
6.4 KiB
Python
import copy
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import json
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import os
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import random
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from PIL import Image, ImageDraw, ImageFont
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from iqpilot.cereal import log, car, custom
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from iqpilot.cereal.messaging import SubMaster
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from iqpilot.common.basedir import BASEDIR
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from iqpilot.common.params import Params
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from iqpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET
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from iqpilot.selfdrive.selfdrived.iq_events import EVENTS_IQ
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from iqpilot.selfdrive.selfdrived.events import invalid_lkas_setting_alert, invalid_lkas_setting_no_entry_alert
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from iqpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
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from iqpilot.selfdrive.test.process_replay.process_replay import CONFIGS
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AlertSize = log.SelfdriveState.AlertSize
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OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "iqpilot/selfdrive/selfdrived/alerts_offroad.json")
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# TODO: add callback alerts
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ALERTS = []
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for event_types in EVENTS.values():
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for alert in event_types.values():
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ALERTS.append(alert)
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class TestAlerts:
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def test_wrong_gear_alerts_are_silent_and_invisible(self):
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wrong_gear_alerts = (EVENTS[log.OnroadEvent.EventName.wrongGear][ET.SOFT_DISABLE],
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EVENTS[log.OnroadEvent.EventName.wrongGear][ET.NO_ENTRY],
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EVENTS_IQ[custom.IQOnroadEvent.EventName.gearNotDriveSilent][ET.NO_ENTRY])
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for alert in wrong_gear_alerts:
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assert alert.alert_size == AlertSize.none
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assert alert.audible_alert == car.CarControl.HUDControl.AudibleAlert.none
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assert alert.alert_text_1 == ""
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assert alert.alert_text_2 == ""
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@classmethod
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def setup_class(cls):
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with open(OFFROAD_ALERTS_PATH) as f:
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cls.offroad_alerts = json.loads(f.read())
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# Create fake objects for callback
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cls.CS = car.CarState.new_message()
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cls.CP = car.CarParams.new_message()
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cfg = [c for c in CONFIGS if c.proc_name == 'selfdrived'][0]
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cls.sm = SubMaster(cfg.pubs)
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def test_events_defined(self):
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# Ensure all events in capnp schema are defined in events.py
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events = log.OnroadEvent.EventName.schema.enumerants
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for name, e in events.items():
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if not name.endswith("DEPRECATED") and not name.startswith("eventReserved"):
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fail_msg = f"{name} @{e} not in EVENTS"
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assert e in EVENTS.keys(), fail_msg
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# ensure alert text doesn't exceed allowed width
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def test_alert_text_length(self):
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font_path = os.path.join(BASEDIR, "iqpilot/selfdrive/assets/fonts")
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regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
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bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
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semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
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max_text_width = 2160 - 300 # full screen width is usable, minus sidebar
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draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
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fonts = {
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AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
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AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
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ImageFont.truetype(regular_font_path, 66)],
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}
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for alert in ALERTS:
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if not isinstance(alert, Alert):
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alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
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# for full size alerts, both text fields wrap the text,
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# so it's unlikely that they would go past the max width
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if alert.alert_size in (AlertSize.none, AlertSize.full):
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continue
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for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):
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if i >= len(fonts[alert.alert_size]):
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break
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font = fonts[alert.alert_size][i]
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left, _, right, _ = draw.textbbox((0, 0), txt, font)
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width = right - left
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msg = f"type: {alert.alert_type} msg: {txt}"
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assert width <= max_text_width, msg
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def test_alert_sanity_check(self):
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for event_types in EVENTS.values():
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for event_type, a in event_types.items():
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# TODO: add callback alerts
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if not isinstance(a, Alert):
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continue
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if a.alert_size == AlertSize.none:
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assert len(a.alert_text_1) == 0
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assert len(a.alert_text_2) == 0
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elif a.alert_size == AlertSize.small:
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assert len(a.alert_text_1) > 0
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assert len(a.alert_text_2) == 0
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elif a.alert_size == AlertSize.mid:
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assert len(a.alert_text_1) > 0
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assert len(a.alert_text_2) > 0
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else:
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assert len(a.alert_text_1) > 0
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assert a.duration >= 0.
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if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE):
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assert a.creation_delay == 0.
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def test_offroad_alerts(self):
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params = Params()
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for a in self.offroad_alerts:
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# set the alert
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alert = copy.copy(self.offroad_alerts[a])
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set_offroad_alert(a, True)
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alert['extra'] = ''
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assert alert == params.get(a)
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# then delete it
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set_offroad_alert(a, False)
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assert params.get(a) is None
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def test_offroad_alerts_extra_text(self):
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params = Params()
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for i in range(50):
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# set the alert
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a = random.choice(list(self.offroad_alerts))
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alert = self.offroad_alerts[a]
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set_offroad_alert(a, True, extra_text="a"*i)
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written_alert = params.get(a)
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assert "a"*i == written_alert['extra']
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assert alert["text"] == written_alert['text']
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def test_invalid_lkas_setting_alert_tesla_dashcam_mode(self):
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self.CP.brand = "tesla"
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alert = invalid_lkas_setting_alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
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no_entry = invalid_lkas_setting_no_entry_alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
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assert alert.alert_text_1 == "Dashcam Mode"
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assert alert.alert_text_2 == "FSD / Autosteer is active"
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assert no_entry.alert_text_1 == "Dashcam Mode"
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assert no_entry.alert_text_2 == "FSD / Autosteer is active"
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def test_invalid_lkas_setting_alert_non_tesla_unchanged(self):
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self.CP.brand = "mazda"
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alert = invalid_lkas_setting_alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
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no_entry = invalid_lkas_setting_no_entry_alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
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assert alert.alert_text_1 == "Invalid LKAS setting"
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assert alert.alert_text_2 == "Enable your car's LKAS to engage"
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assert no_entry.alert_text_1 == "IQ.Pilot Unavailable"
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assert no_entry.alert_text_2 == "Invalid LKAS setting"
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