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firestar5683
e4f3d6661c
Implement acceleration profiles, FollowJerk, force-stop and lead-departure owners. Keep selected acceleration limits and hazard arbitration explicit at their shared boundaries. Co-authored-by: whoisdomi <dcantu83@gmail.com>
27 lines
1.3 KiB
Python
27 lines
1.3 KiB
Python
import unittest
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from types import SimpleNamespace
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from opendbc.car import gen_empty_fingerprint, structs
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from opendbc.car.hyundai.interface import CarInterface
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from opendbc.car.hyundai.values import CAR
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from openpilot.selfdrive.controls.lib.longcontrol import LongControl
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from openpilot.starpilot.longitudinal.vehicle_policy import stopping_decel_rate
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class TestG90StopRate(unittest.TestCase):
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def test_actual_controller_stop_ramp_and_default_scope(self):
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state = structs.CarState()
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for candidate in (CAR.GENESIS_G90, CAR.GENESIS_G80):
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for alpha in (False, True):
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cp = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], alpha, False, False)
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controller = LongControl(cp)
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rate = 0.55 if candidate == CAR.GENESIS_G90 and cp.openpilotLongitudinalControl else 1.0
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for frame in range(60):
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output = controller.update(True, state.as_reader(), -2., True, (-3.5, 2.))
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self.assertAlmostEqual(output, -rate * (frame + 1) * 0.01)
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self.assertEqual(controller.update(False, state.as_reader(), -2., True, (-3.5, 2.)), 0)
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def test_other_vehicle_policy_retains_its_rate(self):
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cp = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], True, False, False)
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self.assertEqual(stopping_decel_rate(cp, SimpleNamespace(stopping_decel_rate=0.8)), 0.8)
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