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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>
37 lines
1.6 KiB
Python
37 lines
1.6 KiB
Python
"""Suburban stopping ramp through the production longitudinal controller."""
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import unittest
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from opendbc.car import gen_empty_fingerprint, structs
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from opendbc.car.gm.interface import CarInterface
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from opendbc.car.gm.values import CAR
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from openpilot.selfdrive.controls.lib.longcontrol import LongControl
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def params(candidate=CAR.CHEVROLET_SUBURBAN):
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fingerprint = gen_empty_fingerprint()
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fingerprint[1][0x460] = 8
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return CarInterface.get_params(candidate, fingerprint, [], False, False, False)
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class TestSuburbanStop(unittest.TestCase):
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def test_actual_stopping_ramp_and_profile_isolation(self):
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cp = params()
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state = structs.CarState(vEgo=0.1)
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owner = LongControl(cp)
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self.assertAlmostEqual(owner.stopping_decel_rate, 0.8)
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for tick in range(1, 51):
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accel = owner.update(True, state, 0.0, True, (-4.0, 2.0))
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self.assertAlmostEqual(accel, -0.008 * tick)
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self.assertEqual(owner.long_control_state, structs.CarControl.Actuators.LongControlState.stopping)
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self.assertEqual(owner.update(False, state, 0.0, True, (-4.0, 2.0)), 0.0)
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self.assertEqual(LongControl(params(CAR.CHEVROLET_SUBURBAN_ASCM)).stopping_decel_rate, 1.0)
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for field, value in (("openpilotLongitudinalControl", False), ("pcmCruise", True),
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("networkLocation", structs.CarParams.NetworkLocation.fwdCamera)):
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rejected = params()
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setattr(rejected, field, value)
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self.assertEqual(LongControl(rejected).stopping_decel_rate, 1.0)
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rejected = params()
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rejected.safetyConfigs[0].safetyParam = 1
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self.assertEqual(LongControl(rejected).stopping_decel_rate, 1.0)
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