mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-06 04:23:42 +08:00
firestarsdog
37 lines
1.8 KiB
Python
37 lines
1.8 KiB
Python
import math
|
|
|
|
import pytest
|
|
|
|
from openpilot.selfdrive.car.cruise import VCruiseHelper
|
|
from openpilot.common.constants import CV
|
|
from openpilot.starpilot.controllers.cruise_action import CruiseActionPublisher, CruiseActionConsumer
|
|
from openpilot.starpilot.controllers.tests.test_cruise_action import State, Publisher, cp
|
|
from opendbc.car.structs import car
|
|
|
|
|
|
@pytest.mark.parametrize('metric,value,target', [(True, 55, 55 / 3.6), (False, 30, 30 * 0.44704)])
|
|
def test_real_absolute_request_changes_software_speed_without_physical_button(metric, value, target):
|
|
now = 5_000_000_000
|
|
params, sm = cp(), State(now)
|
|
state = car.CarState.new_message(canValid=True, cruiseState={'available': True})
|
|
helper = VCruiseHelper(params)
|
|
helper.v_cruise_kph = 80
|
|
publisher = Publisher()
|
|
sender, consumer = CruiseActionPublisher(), CruiseActionConsumer()
|
|
assert sender.dispatch(True, sm, params, publisher, now_ns=now, target_mps=target)
|
|
assert str(publisher.message.slcAction.kind) == 'cruiseSet'
|
|
assert consumer.apply(publisher.message, params, state, sm, helper, now_ns=now, is_metric=metric, enabled=True)
|
|
assert helper.v_cruise_kph == pytest.approx(value if metric else round(value * CV.MPH_TO_KPH, 1))
|
|
assert round(helper.v_cruise_kph * (1 if metric else CV.KPH_TO_MPH)) == value
|
|
assert not list(state.buttonEvents)
|
|
assert not consumer.apply(publisher.message, params, state, sm, helper, now_ns=now + 100_000_000,
|
|
is_metric=metric, enabled=True)
|
|
|
|
|
|
@pytest.mark.parametrize('target', [math.nan, math.inf, -1, 0, 100, True])
|
|
def test_bad_absolute_request_never_publishes(target):
|
|
now = 5_000_000_000
|
|
publisher = Publisher()
|
|
assert not CruiseActionPublisher().dispatch(True, State(now), cp(), publisher, now_ns=now, target_mps=target)
|
|
assert not hasattr(publisher, 'message')
|