Release 260111

selfdrive/selfdrived/tests/test_state_machine.py

@@ -0,0 +1,92 @@
+from cereal import log
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
+from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
+
+State = log.SelfdriveState.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)
+
+
+def make_event(event_types):
+  event = {}
+  for ev in event_types:
+    event[ev] = NormalPermanentAlert("alert")
+  EVENTS[0] = event
+  return 0
+
+
+class TestStateMachine:
+  def setup_method(self):
+    self.events = Events()
+    self.state_machine = StateMachine()
+    self.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+
+  def test_immediate_disable(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert State.disabled == self.state_machine.state
+        self.events.clear()
+
+  def test_user_disable(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert State.disabled == self.state_machine.state
+        self.events.clear()
+
+  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.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
+        self.events.clear()
+
+  def test_soft_disable_timer(self):
+    self.state_machine.state = State.enabled
+    self.events.add(make_event([ET.SOFT_DISABLE]))
+    self.state_machine.update(self.events)
+    for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
+      assert self.state_machine.state == State.softDisabling
+      self.state_machine.update(self.events)
+
+    assert self.state_machine.state == State.disabled
+
+  def test_no_entry(self):
+    # Make sure noEntry keeps us disabled
+    for et in ENABLE_EVENT_TYPES:
+      self.events.add(make_event([ET.NO_ENTRY, et]))
+      self.state_machine.update(self.events)
+      assert self.state_machine.state == State.disabled
+      self.events.clear()
+
+  def test_no_entry_pre_enable(self):
+    # preEnabled with noEntry event
+    self.state_machine.state = State.preEnabled
+    self.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
+    self.state_machine.update(self.events)
+    assert self.state_machine.state == State.preEnabled
+
+  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.state_machine.state = state
+        self.events.add(make_event([et]))
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == state
+        self.events.clear()