mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 22:53:44 +08:00
TonyJOM
31 lines
1.0 KiB
Python
31 lines
1.0 KiB
Python
from cereal import car
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import pytest
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from openpilot.selfdrive.controls.controlsd import get_control_lateral_smooth_seconds, turn_lead_allowed
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LateralControlMode = car.CarControl.Actuators.LateralControlMode
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def test_turn_lead_is_suppressed_only_during_applied_angle_control():
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assert not turn_lead_allowed("rivian", LateralControlMode.angle)
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assert turn_lead_allowed("rivian", LateralControlMode.torque)
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assert turn_lead_allowed("rivian", LateralControlMode.torqueRecovering)
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assert turn_lead_allowed("rivian", LateralControlMode.inactive)
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assert turn_lead_allowed("ford", LateralControlMode.angle)
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@pytest.mark.parametrize("v_ego", [0.0, 5.0, 30.0])
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def test_non_rivian_control_smoothing_matches_starpilot(v_ego):
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assert get_control_lateral_smooth_seconds("toyota", v_ego, 0.0) == 0.1
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@pytest.mark.parametrize(("v_ego", "expected"), [
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(0.0, 0.4),
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(5.0, 0.2),
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(30.0, 0.0),
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])
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def test_rivian_control_smoothing_remains_speed_scheduled(v_ego, expected):
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assert get_control_lateral_smooth_seconds("rivian", v_ego, 0.4) == pytest.approx(expected)
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