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controlsd: add test around cruise speed gas pressed behavior (#26486)

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old-commit-hash: 23a7a987f6ab75ebee4dd856ba0a0c179b2f90b0
This commit is contained in:
Shane Smiskol
2022-11-21 17:05:13 -08:00
committed by GitHub
parent d037490c40
commit b94dfd81c6
2 changed files with 27 additions and 3 deletions
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selfdrive/controls/lib/drive_helpers.py
+2 -2
View File
@@ -12,6 +12,7 @@ V_CRUISE_MAX = 145 # kph
V_CRUISE_MIN = 8 # kph
V_CRUISE_ENABLE_MIN = 40 # kph
V_CRUISE_INITIAL = 255 # kph
IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors
MIN_SPEED = 1.0
LAT_MPC_N = 16
@@ -73,8 +74,7 @@ class VCruiseHelper:
long_press = False
button_type = None
# should be CV.MPH_TO_KPH, but this causes rounding errors
v_cruise_delta = 1. if is_metric else 1.6
v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
for b in CS.buttonEvents:
if b.type.raw in self.button_timers and not b.pressed:
selfdrive/controls/tests/test_cruise_speed.py
+25 -1
View File
@@ -3,7 +3,7 @@ import numpy as np
from parameterized import parameterized_class
import unittest
from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN
from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN, IMPERIAL_INCREMENT
from cereal import car
from common.conversions import Conversions as CV
from common.params import Params
@@ -110,6 +110,30 @@ class TestVCruiseHelper(unittest.TestCase):
should_equal = standstill or pressed
self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
def test_set_gas_pressed(self):
"""
Asserts pressing set while enabled with gas pressed sets
the speed to the maximum of vEgo and current cruise speed.
"""
for v_ego in np.linspace(0, 100, 101):
self.reset_cruise_speed_state()
self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS)
# first decrement speed, then perform gas pressed logic
expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
expected_v_cruise_kph = max(expected_v_cruise_kph, v_ego * CV.MS_TO_KPH) # clip to min of vEgo
expected_v_cruise_kph = float(np.clip(round(expected_v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX))
CS = car.CarState(vEgo=float(v_ego), gasPressed=True, cruiseState={"available": True})
CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)]
self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
# TODO: fix skipping first run due to enabled on rising edge exception
if v_ego == 0.0:
continue
self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph)
def test_initialize_v_cruise(self):
"""
Asserts allowed cruise speeds on enabling with SET.