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firestar5683
d8708b65c7
Implement conditional driving modes with explicit scene, button and traffic state ownership. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: whoisdomi <dcantu83@gmail.com>
39 lines
1.7 KiB
Python
39 lines
1.7 KiB
Python
"""Frozen committed-turn boundaries with current-source unknown semantics."""
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import unittest
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from openpilot.starpilot.conditional_mode.turn_scene import MAX_TURN_SPEED_MPS, committed_turn_scene
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def turn(**changes):
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values = {'speed_mps': 5.0, 'standstill': False, 'left_blinker': True,
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'right_blinker': False, 'steering_angle_deg': 45.0, 'driving_in_curve': False}
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return committed_turn_scene(**(values | changes))
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class TestCommittedTurnScene(unittest.TestCase):
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def test_frozen_speed_angle_and_measured_curve_boundaries(self):
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self.assertTrue(turn(speed_mps=MAX_TURN_SPEED_MPS))
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self.assertFalse(turn(speed_mps=MAX_TURN_SPEED_MPS + 0.001))
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self.assertFalse(turn(steering_angle_deg=44.999))
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self.assertTrue(turn(steering_angle_deg=44.999, driving_in_curve=True))
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self.assertFalse(turn(left_blinker=False))
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self.assertTrue(turn(left_blinker=False, right_blinker=True))
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self.assertFalse(turn(standstill=True))
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def test_short_circuits_known_absence_but_not_active_missing_evidence(self):
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self.assertFalse(turn(left_blinker=False, steering_angle_deg=None, driving_in_curve=None))
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self.assertFalse(turn(standstill=True, steering_angle_deg=None, driving_in_curve=None))
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self.assertFalse(turn(speed_mps=7.0, steering_angle_deg=None, driving_in_curve=None))
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self.assertIsNone(turn(steering_angle_deg=45.0, driving_in_curve=None))
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self.assertIsNone(turn(steering_angle_deg=None, driving_in_curve=True))
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self.assertIsNone(turn(driving_in_curve=1))
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self.assertIsNone(turn(speed_mps=float('nan')))
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self.assertIsNone(turn(speed_mps=10**10000))
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self.assertIsNone(turn(standstill=0))
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self.assertIsNone(turn(left_blinker=1))
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if __name__ == '__main__':
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unittest.main()
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