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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>
35 lines
1.7 KiB
Python
35 lines
1.7 KiB
Python
import math
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import pytest
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from openpilot.selfdrive.car.cruise import VCruiseHelper, IMPERIAL_INCREMENT
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from openpilot.starpilot.controllers.cruise_action import CruiseActionPublisher, CruiseActionConsumer
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from openpilot.starpilot.controllers.tests.test_cruise_action import State, Publisher, cp
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from opendbc.car.structs import car
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@pytest.mark.parametrize('metric,value,target', [(True, 55, 55 / 3.6), (False, 30, 30 * 0.44704)])
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def test_real_absolute_request_changes_software_speed_without_physical_button(metric, value, target):
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now = 5_000_000_000
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params, sm = cp(), State(now)
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state = car.CarState.new_message(canValid=True, cruiseState={'available': True})
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helper = VCruiseHelper(params)
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helper.v_cruise_kph = 80
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publisher = Publisher()
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sender, consumer = CruiseActionPublisher(), CruiseActionConsumer()
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assert sender.dispatch(True, sm, params, publisher, now_ns=now, target_mps=target)
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assert str(publisher.message.slcAction.kind) == 'cruiseSet'
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assert consumer.apply(publisher.message, params, state, sm, helper, now_ns=now, is_metric=metric, enabled=True)
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assert helper.v_cruise_kph == pytest.approx(value if metric else value * IMPERIAL_INCREMENT)
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assert not list(state.buttonEvents)
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assert not consumer.apply(publisher.message, params, state, sm, helper, now_ns=now + 100_000_000,
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is_metric=metric, enabled=True)
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@pytest.mark.parametrize('target', [math.nan, math.inf, -1, 0, 100, True])
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def test_bad_absolute_request_never_publishes(target):
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now = 5_000_000_000
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publisher = Publisher()
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assert not CruiseActionPublisher().dispatch(True, State(now), cp(), publisher, now_ns=now, target_mps=target)
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assert not hasattr(publisher, 'message')
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