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firestar5683
b945d4c021
Integrate V-ASM from PR #75 with Galaxy-only configuration, stale-state safety, conditional SLV coexistence, and OpenCV inference. Originally contributed by @prabhaavp in #75. Co-authored-by: Prabhaav Pillai <143428353+prabhaavp@users.noreply.github.com>
28 lines
854 B
Python
28 lines
854 B
Python
from openpilot.starpilot.common.vision_bsm import VASM_STATE_TIMEOUT_SECONDS, get_fresh_vasm_state
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class FakeParams:
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def __init__(self, values):
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self.values = values
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def get(self, key):
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return self.values.get(key)
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def test_fresh_vasm_state_is_returned():
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params = FakeParams({
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"VASMLastUpdateMonoTime": "100.0",
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"VASMLeftActive": "1",
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"VASMRightActive": "0",
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})
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assert get_fresh_vasm_state(params, now=101.0) == (True, False)
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def test_stale_or_invalid_vasm_state_fails_closed():
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stale = FakeParams({"VASMLastUpdateMonoTime": "100.0", "VASMLeftActive": "1"})
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invalid = FakeParams({"VASMLastUpdateMonoTime": "invalid", "VASMLeftActive": "1"})
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assert get_fresh_vasm_state(stale, now=100.0 + VASM_STATE_TIMEOUT_SECONDS + 0.01) == (False, False)
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assert get_fresh_vasm_state(invalid, now=100.0) == (False, False)
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