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https://github.com/firestar5683/StarPilot.git
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firestar5683
54 lines
1.8 KiB
Python
54 lines
1.8 KiB
Python
from openpilot.starpilot.common.experimental_state import (
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LONGITUDINAL_PREFERENCE_OVERRIDE_PARAM,
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requested_experimental_mode,
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toggle_longitudinal_model_preference,
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)
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class FakeParams:
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def __init__(self, bools=None, ints=None):
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self.bools = dict(bools or {})
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self.ints = dict(ints or {})
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def get_bool(self, key):
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return bool(self.bools.get(key, False))
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def get_int(self, key, default=0):
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return int(self.ints.get(key, default))
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def put_int(self, key, value):
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self.ints[key] = int(value)
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def test_set_speed_first_is_default():
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assert not requested_experimental_mode(FakeParams(), FakeParams())
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def test_persistent_model_first_preference_is_respected():
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params = FakeParams(ints={"LongitudinalModelPreference": 1})
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assert requested_experimental_mode(params, FakeParams())
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def test_drive_override_takes_priority_without_changing_persistent_default():
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params = FakeParams(ints={"LongitudinalModelPreference": 0})
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params_memory = FakeParams(ints={LONGITUDINAL_PREFERENCE_OVERRIDE_PARAM: 1})
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assert requested_experimental_mode(params, params_memory)
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assert params.get_int("LongitudinalModelPreference") == 0
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def test_exp_button_flips_preference_for_current_drive():
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params = FakeParams(ints={"LongitudinalModelPreference": 0})
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params_memory = FakeParams()
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assert toggle_longitudinal_model_preference(params, params_memory)
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assert params_memory.get_int(LONGITUDINAL_PREFERENCE_OVERRIDE_PARAM) == 1
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assert not toggle_longitudinal_model_preference(params, params_memory)
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assert params_memory.get_int(LONGITUDINAL_PREFERENCE_OVERRIDE_PARAM) == 0
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def test_safe_mode_forces_set_speed_first():
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params = FakeParams(bools={"SafeMode": True}, ints={"LongitudinalModelPreference": 1})
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params_memory = FakeParams(ints={LONGITUDINAL_PREFERENCE_OVERRIDE_PARAM: 1})
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assert not requested_experimental_mode(params, params_memory)
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