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firestar5683
46 lines
1.3 KiB
Python
46 lines
1.3 KiB
Python
import pytest
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from openpilot.selfdrive.modeld.modeld import get_car_lateral_smooth_seconds, get_lateral_smooth_seconds
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@pytest.mark.parametrize(("v_ego", "expected"), [
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(0.0, 0.4),
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(2.0, 0.4),
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(5.0, 0.2),
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(8.0, 0.0),
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(30.0, 0.0),
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])
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def test_lateral_smoothing_tapers_with_speed(v_ego, expected):
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assert get_lateral_smooth_seconds(v_ego, 0.4) == pytest.approx(expected)
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@pytest.mark.parametrize("v_ego", [0.0, 5.0, 30.0])
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def test_default_lateral_smoothing_is_disabled(v_ego):
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assert get_lateral_smooth_seconds(v_ego) == 0.0
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@pytest.mark.parametrize("v_ego", [0.0, 5.0, 30.0])
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def test_non_rivian_cars_keep_configured_starpilot_smoothing(v_ego):
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assert get_car_lateral_smooth_seconds("toyota", v_ego, 0.4) == 0.4
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@pytest.mark.parametrize(("v_ego", "expected"), [
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(0.0, 0.4),
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(2.0, 0.4),
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(5.0, 0.2),
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(8.0, 0.0),
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(30.0, 0.0),
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])
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def test_subaru_uses_low_speed_configured_smoothing(v_ego, expected):
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assert get_car_lateral_smooth_seconds("subaru", v_ego, 0.4) == pytest.approx(expected)
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@pytest.mark.parametrize(("v_ego", "maximum", "expected"), [
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(0.0, 0.4, 0.4),
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(5.0, 0.4, 0.2),
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(30.0, 0.4, 0.0),
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(0.0, 0.0, 0.0),
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])
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def test_rivian_uses_configured_smoothing(v_ego, maximum, expected):
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assert get_car_lateral_smooth_seconds("rivian", v_ego, maximum) == pytest.approx(expected)
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