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firestar5683
52 lines
1.9 KiB
Python
52 lines
1.9 KiB
Python
from openpilot.selfdrive.controls.lib.drive_helpers import get_kona_non_scc_lateral_active, get_lateral_active
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def test_get_lateral_active_requires_enabled_without_aol():
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assert not get_lateral_active(False, True, False, False, False, False, False, True)
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def test_get_lateral_active_allows_aol_while_disabled():
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assert get_lateral_active(False, False, True, False, False, False, False, True)
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def test_get_lateral_active_does_not_retry_after_a_latched_temporary_fault():
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assert not get_lateral_active(False, False, True, False, False, False, False, True, True)
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assert get_lateral_active(False, False, True, False, False, False, False, True, False)
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def test_kona_non_scc_aol_waits_for_driver_steering_to_release():
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assert not get_kona_non_scc_lateral_active(
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False, False, True, False, False, False, False, True, True, False,
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)
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assert get_kona_non_scc_lateral_active(
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False, False, True, False, False, False, False, True, False, False,
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)
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assert get_kona_non_scc_lateral_active(
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False, False, True, False, False, False, False, True, True, True,
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)
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def test_kona_non_scc_aol_gate_does_not_change_fault_or_normal_lateral_gates():
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assert not get_kona_non_scc_lateral_active(
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False, False, True, True, False, False, False, True, False, False,
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)
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assert get_kona_non_scc_lateral_active(
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True, True, False, False, False, False, False, True, True, False,
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)
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def test_kona_non_scc_recovers_after_temporary_fault_clears():
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assert not get_kona_non_scc_lateral_active(
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False, False, True, True, False, False, False, True, False, True,
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)
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assert not get_kona_non_scc_lateral_active(
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False, False, True, False, False, False, False, True, True, False,
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)
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assert get_kona_non_scc_lateral_active(
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False, False, True, False, False, False, False, True, False, False,
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)
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def test_get_lateral_active_honors_manual_pause_while_cruise_is_engaged():
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assert not get_lateral_active(True, True, False, False, False, False, False, False)
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