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21 lines
701 B
Python
21 lines
701 B
Python
import pytest
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from openpilot.selfdrive.controls.lib.drive_helpers import DEFAULT_STOPPING_SPEED, should_stop
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class TestShouldStop:
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@pytest.mark.parametrize("v_ego, expected", [
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(DEFAULT_STOPPING_SPEED - 0.01, True),
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(DEFAULT_STOPPING_SPEED, False),
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])
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def test_upstream_default(self, v_ego, expected):
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assert should_stop(v_ego, -0.1) == expected
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@pytest.mark.parametrize("stopping_speed", [0.55 / 3.6, 1.5 / 3.6])
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def test_car_override(self, stopping_speed):
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assert should_stop(stopping_speed - 0.01, -0.1, stopping_speed)
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assert not should_stop(stopping_speed, -0.1, stopping_speed)
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def test_requires_deceleration(self):
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assert not should_stop(0.0, 0.1, 1.0)
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