#!/usr/bin/env python3
import unittest
from cereal import car, log
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
AudibleAlert, EVENTS
from openpilot.selfdrive.car.mock.values import CAR as MOCK
State = log.ControlsState.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)
[docs]
def make_event(event_types):
event = {}
for ev in event_types:
event[ev] = Alert("", "", AlertStatus.normal, AlertSize.small, Priority.LOW,
VisualAlert.none, AudibleAlert.none, 1.)
EVENTS[0] = event
return 0
[docs]
class TestStateMachine(unittest.TestCase):
[docs]
def setUp(self):
CarInterface, CarController, CarState = interfaces[MOCK.MOCK]
CP = CarInterface.get_non_essential_params(MOCK.MOCK)
CI = CarInterface(CP, CarController, CarState)
self.controlsd = Controls(CI=CI)
self.controlsd.events = Events()
self.controlsd.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.CS = car.CarState()
[docs]
def test_user_disable(self):
for state in ALL_STATES:
for et in MAINTAIN_STATES[state]:
self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(State.disabled, self.controlsd.state)
self.controlsd.events.clear()
[docs]
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.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
self.controlsd.events.clear()
[docs]
def test_soft_disable_timer(self):
self.controlsd.state = State.enabled
self.controlsd.events.add(make_event([ET.SOFT_DISABLE]))
self.controlsd.state_transition(self.CS)
for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
self.assertEqual(self.controlsd.state, State.softDisabling)
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, State.disabled)
[docs]
def test_no_entry(self):
# Make sure noEntry keeps us disabled
for et in ENABLE_EVENT_TYPES:
self.controlsd.events.add(make_event([ET.NO_ENTRY, et]))
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, State.disabled)
self.controlsd.events.clear()
[docs]
def test_no_entry_pre_enable(self):
# preEnabled with noEntry event
self.controlsd.state = State.preEnabled
self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, State.preEnabled)
[docs]
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.controlsd.state = state
self.controlsd.events.add(make_event([et]))
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, state)
self.controlsd.events.clear()
if __name__ == "__main__":
unittest.main()