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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
31 lines
1.2 KiB
Python
31 lines
1.2 KiB
Python
from types import SimpleNamespace as NS
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import pytest
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from openpilot.starpilot.aol.runtime import decide_axes
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from openpilot.starpilot.aol.tests.test_ioniq_availability import car_state
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@pytest.mark.parametrize('speed', [-0.002, 0.0, 0.002])
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@pytest.mark.parametrize('threshold', [0.0, 1.0])
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@pytest.mark.parametrize('grant', [False, True])
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def test_zero_disables_speed_pause_without_granting_native_or_longitudinal(speed, threshold, grant):
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state = car_state()
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state.vEgo, state.brakePressed, state.standstill = speed, True, False
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result = decide_axes(
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standard_lateral=False,
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standard_longitudinal=False,
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intent=NS(allowedLatch=True, pauseLateral=False, pauseLongitudinal=True),
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native=NS(requestedLateral=True, lateralAllowed=grant, requestedLongitudinal=False, longitudinalAllowed=False),
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car_state=state,
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initialized=True,
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model_ready=True,
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no_entry=False,
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immediate_disable=False,
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dm_lockout=False,
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pause_brake_mps=threshold,
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)
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assert result.desired_lateral == (threshold == 0.0)
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assert result.lateral_active == (threshold == 0.0 and grant)
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assert not result.desired_longitudinal and not result.longitudinal_active
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