mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-14 00:13:42 +08:00
firestarsdog
31 lines
1.3 KiB
Python
31 lines
1.3 KiB
Python
"""Live lead guards for cruise comfort braking preferences."""
|
|
|
|
import unittest
|
|
from types import SimpleNamespace
|
|
|
|
from openpilot.starpilot.longitudinal.slc_coast import braking_lead_relevant
|
|
|
|
|
|
class BrakingLeadTests(unittest.TestCase):
|
|
def test_absent_lead_does_not_veto_cruise_tuning(self):
|
|
self.assertFalse(braking_lead_relevant(SimpleNamespace(present=False), 20.0))
|
|
|
|
def test_close_slow_or_braking_lead_vetoes_cruise_tuning(self):
|
|
for speed, accel, distance, expected in ((25.0, 0.0, 100.0, False),
|
|
(10.0, 0.0, 100.0, True),
|
|
(25.0, -0.5, 100.0, True),
|
|
(25.0, 0.0, 10.0, True)):
|
|
with self.subTest(speed=speed, accel=accel, distance=distance):
|
|
lead = SimpleNamespace(present=True, vLead=speed, aLeadK=accel, dRel=distance)
|
|
self.assertEqual(braking_lead_relevant(lead, 20.0), expected)
|
|
|
|
def test_malformed_lead_is_conservative(self):
|
|
for lead in (SimpleNamespace(present=True),
|
|
SimpleNamespace(present=True, vLead=float('nan'), aLeadK=0.0, dRel=100.0)):
|
|
with self.subTest(lead=lead):
|
|
self.assertTrue(braking_lead_relevant(lead, 20.0))
|
|
|
|
|
|
if __name__ == '__main__':
|
|
unittest.main()
|