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firestar5683
60 lines
2.5 KiB
Python
60 lines
2.5 KiB
Python
from dataclasses import replace
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from openpilot.starpilot.conditional_mode.policy import Authority, ConditionalModePolicy, ManualIntent, ModeChoice, SceneEvidence
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from openpilot.starpilot.conditional_mode.stop import StopLightDetector
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from openpilot.starpilot.conditional_mode.tests.test_stop import frame
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def prime():
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detector = StopLightDetector()
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for tick in range(30):
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result = detector.step(frame(tick))
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assert result.light_detected and detector.committed
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return detector
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def test_acquired_stop_survives_fresh_invalid_geometry_until_valid_clear():
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detector = prime()
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for tick in range(30, 140):
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result = detector.step(frame(tick, horizon=None, speed=4.27))
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assert result.light_detected and detector.committed
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for tick in range(140, 160):
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result = detector.step(frame(tick, horizon=192., speed=4.27))
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assert not result.light_detected and not detector.committed
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def test_traffic_and_turn_cannot_abandon_short_committed_stop():
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for changes in ({'traffic': True}, {'left': True, 'steering': 45.}):
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detector = prime()
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for tick in range(30, 140):
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result = detector.step(frame(tick, horizon=6.684, speed=4.27, **changes))
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assert result.light_detected and detector.committed
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def test_unknown_source_and_cold_invalid_geometry_cannot_authorize_commit():
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detector = StopLightDetector()
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assert detector.step(frame(0, horizon=None)).light_detected is None
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assert not detector.committed
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detector = prime()
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assert detector.step(replace(frame(30), traffic_mode=None)).light_detected is None
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assert not detector.committed
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def test_manual_chill_and_personality_mode_change_do_not_override_committed_stop():
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policy = ConditionalModePolicy()
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authority = Authority(True, True, False, True, True, True)
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for tick, choice in enumerate((ModeChoice.CEM, ModeChoice.CCM, ModeChoice.CEM)):
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now = 100. + tick * .05
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scene = SceneEvidence(observed_mono_s=now, speed_mps=4.27, committed_stop=True)
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result = policy.step(now, choice, ManualIntent.FORCE_CHILL, authority, scene)
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assert result.requested_experimental and result.reason.value == 'cem_stop'
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scene = replace(scene, observed_mono_s=now+.05, committed_stop=False)
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result = policy.step(now+.05, ModeChoice.CEM, ManualIntent.FORCE_CHILL, authority, scene)
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assert not result.requested_experimental and result.reason.value == 'manual_chill'
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def test_pedal_override_releases_acquired_stop_without_authority_recreation():
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detector = prime()
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result = detector.step(frame(30, horizon=6.684, speed=4.27, pedal=True))
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assert not result.light_detected and not detector.committed
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