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firestar5683
31 lines
866 B
Python
31 lines
866 B
Python
import pytest
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from openpilot.common.constants import CV
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from openpilot.starpilot.controls.lib.starpilot_vcruise import get_active_slc_control_target
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def test_active_slc_control_target_does_not_require_set_speed_limit():
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target = get_active_slc_control_target(
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speed_limit_controller=True,
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set_speed_limit=False,
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slc_target=45.0 * CV.MPH_TO_MS,
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slc_offset=3.0 * CV.MPH_TO_MS,
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overridden_speed=0.0,
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v_ego_diff=0.4,
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)
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assert target == pytest.approx((48.0 * CV.MPH_TO_MS) - 0.4)
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def test_active_slc_control_target_applies_offset_and_cluster_diff():
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target = get_active_slc_control_target(
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speed_limit_controller=True,
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set_speed_limit=True,
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slc_target=45.0 * CV.MPH_TO_MS,
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slc_offset=3.0 * CV.MPH_TO_MS,
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overridden_speed=0.0,
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v_ego_diff=0.4,
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)
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assert target == pytest.approx((48.0 * CV.MPH_TO_MS) - 0.4)
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