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firestar5683
42 lines
1.2 KiB
Python
42 lines
1.2 KiB
Python
from types import SimpleNamespace
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from openpilot.common.constants import CV
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from openpilot.starpilot.controls.lib.conditional_experimental_mode import ConditionalExperimentalMode
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def make_cem(*, model_length: float, model_stopped: bool = False, tracking_lead: bool = False):
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planner = SimpleNamespace(
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params=None,
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params_memory=None,
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model_length=model_length,
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model_stopped=model_stopped,
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tracking_lead=tracking_lead,
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)
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return ConditionalExperimentalMode(planner)
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def make_sm(traffic_mode_enabled: bool = False):
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return {
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"starpilotCarState": SimpleNamespace(trafficModeEnabled=traffic_mode_enabled),
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}
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def test_low_speed_cruise_does_not_trigger_stop_light_from_model_stopped():
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v_ego = 10 * CV.MPH_TO_MS
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model_length = v_ego * 10.0
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cem = make_cem(model_length=model_length, model_stopped=True)
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cem.stop_sign_and_light(v_ego, make_sm(), model_time=7.0)
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assert not cem.stop_light_detected
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def test_predicted_stop_within_threshold_triggers_stop_light():
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v_ego = 30 * CV.MPH_TO_MS
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model_length = v_ego * 4.0
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cem = make_cem(model_length=model_length)
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cem.stop_sign_and_light(v_ego, make_sm(), model_time=7.0)
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assert cem.stop_light_detected
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