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