mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestarsdog
83 lines
4.1 KiB
Python
83 lines
4.1 KiB
Python
"""Presentation follows selected set speed and the latest source observation."""
|
||
from dataclasses import replace
|
||
|
||
import pytest
|
||
|
||
from openpilot.starpilot.ui.onroad_state import ObservationKind, OnroadState, SpeedLimitObservation
|
||
from openpilot.starpilot.ui.unified_speed_presentation import resolve_unified_speed
|
||
|
||
|
||
def state(**changes):
|
||
obs = SpeedLimitObservation(ObservationKind.VALID, 'vision', 30., accepted_speed_limit_mps=20.,
|
||
accepted_adjusted_limit_mps=22., accepted_source='dashboard', presentation_adjusted_limit_mps=32.,
|
||
action_enabled=True, session_id='drive')
|
||
return replace(OnroadState(True, False, 20., 100., obs, metric=True, longitudinal_active=True), **changes)
|
||
|
||
|
||
@pytest.mark.parametrize('metric,posted,offset', [(True, '108', '+7'), (False, '67', '+5')])
|
||
def test_latest_received_source_and_offset_are_independent_of_accepted_history(metric, posted, offset):
|
||
shown = resolve_unified_speed(state(metric=metric))
|
||
assert (shown.posted_text, shown.source, shown.offset_text) == (posted, 'vision', offset)
|
||
assert shown.active_side == 'max'
|
||
|
||
|
||
def test_set_speed_is_the_only_active_speed_role_even_below_or_above_the_input_limit():
|
||
for selected in (50., 79.2, 120.):
|
||
shown = resolve_unified_speed(state(cruise_kph=selected))
|
||
assert shown.max_text == str(round(selected))
|
||
assert shown.max_status == 'Set speed'
|
||
assert (shown.active_side, shown.status) == ('max', 'Using set speed')
|
||
|
||
|
||
@pytest.mark.parametrize('automatic,status', [(False, 'Confirm speed limit'), (True, 'Adopting limit')])
|
||
def test_pending_limit_is_shown_immediately_with_its_own_offset(automatic, status):
|
||
current = state()
|
||
obs = replace(current.speed_limit, pending_speed_limit_mps=30., pending_adjusted_limit_mps=32., automatic_adoption_pending=automatic)
|
||
shown = resolve_unified_speed(replace(current, speed_limit=obs))
|
||
assert (shown.posted_text, shown.offset_text, shown.status) == ('108', '+7', status)
|
||
assert shown.pending
|
||
|
||
|
||
def test_manual_override_and_pedal_status_preserve_the_set_speed_and_sign():
|
||
current = state()
|
||
manual = resolve_unified_speed(replace(current, speed_limit=replace(current.speed_limit, driver_override_active=True)))
|
||
pedal = resolve_unified_speed(replace(current, longitudinal_overridden=True))
|
||
assert manual.status == 'Set-speed override'
|
||
assert pedal.status == 'Using accelerator'
|
||
assert manual.max_text == pedal.max_text == '100'
|
||
assert manual.posted_text == pedal.posted_text == '108'
|
||
|
||
|
||
def test_retained_limit_is_information_only_without_a_separate_ceiling():
|
||
current = state()
|
||
retained = replace(current.speed_limit, kind=ObservationKind.UNKNOWN, speed_limit_mps=None,
|
||
effective_cluster_target_mps=22., effective_cap_mps=None)
|
||
shown = resolve_unified_speed(replace(current, speed_limit=retained))
|
||
assert (shown.posted_text, shown.offset_text, shown.source) == ('72', '+7', 'dashboard')
|
||
assert shown.active_side == 'max'
|
||
|
||
|
||
def test_display_only_and_unset_speed_remain_explicit():
|
||
current = state(cruise_kph=None, longitudinal_active=False)
|
||
shown = resolve_unified_speed(replace(current, speed_limit=replace(current.speed_limit, action_enabled=False)))
|
||
assert (shown.max_text, shown.max_status, shown.status) == ('–', 'Not set', 'Display only')
|
||
|
||
|
||
def test_hidden_max_and_offset_preferences_keep_the_latest_sign():
|
||
current = state()
|
||
shown = resolve_unified_speed(replace(current, customization={**current.customization, 'showMaxSpeed': False}, show_slc_offset=False))
|
||
assert (shown.mode, shown.posted_text, shown.offset_text) == ('limit_only', '108', None)
|
||
|
||
|
||
@pytest.mark.parametrize('pending,adjusted,presentation,offset,expected', [
|
||
(30., 33., 32., 2., '119'),
|
||
(30., None, 32., 2., '115'),
|
||
(30., None, None, 2., '115'),
|
||
(25., None, 32., 2., '97'),
|
||
])
|
||
def test_confirmation_proposal_uses_the_pending_target_and_its_offset(pending, adjusted, presentation, offset, expected):
|
||
current = state()
|
||
observation = replace(current.speed_limit, pending_speed_limit_mps=pending, pending_adjusted_limit_mps=adjusted,
|
||
presentation_adjusted_limit_mps=presentation, offset_mps=offset)
|
||
assert resolve_unified_speed(replace(current, speed_limit=observation)).proposal_text == expected
|