mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
125 lines
3.7 KiB
Python
125 lines
3.7 KiB
Python
import types
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import unittest
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class MockSubMaster:
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def __init__(self):
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self.valid = {}
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self.updated = {}
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self.data = {}
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def __getitem__(self, key):
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return self.data.get(key)
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def __setitem__(self, key, value):
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self.data[key] = value
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def reset(self):
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self.valid.clear()
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self.updated.clear()
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self.data.clear()
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mock_ui_state = types.SimpleNamespace(
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is_metric=False,
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sm=MockSubMaster(),
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)
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from openpilot.selfdrive.ui.onroad.starpilot import aethergauge
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from openpilot.selfdrive.ui.onroad.starpilot.aethergauge import (
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AetherGauge,
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AetherGaugeData,
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IndicatorType,
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_is_lead,
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_lead_data,
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_is_stop_light,
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_is_curvature,
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)
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aethergauge.ui_state = mock_ui_state
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class TestAetherGaugeLeadLogic(unittest.TestCase):
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def setUp(self):
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mock_ui_state.sm.reset()
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def test_is_lead_inactive_if_not_experimental(self):
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mock_ui_state.sm.valid["starpilotPlan"] = True
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
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experimentalMode=False,
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trackingLead=True,
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)
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
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)
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self.assertFalse(_is_lead())
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def test_is_lead_inactive_if_not_tracking_lead(self):
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mock_ui_state.sm.valid["starpilotPlan"] = True
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
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experimentalMode=True,
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trackingLead=False,
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)
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
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)
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self.assertFalse(_is_lead())
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def test_is_lead_active_when_experimental_and_tracking(self):
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mock_ui_state.sm.valid["starpilotPlan"] = True
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
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experimentalMode=True,
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trackingLead=True,
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)
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=20.0)
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)
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self.assertTrue(_is_lead())
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def test_lead_data_slow(self):
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=5.0, dRel=25.0)
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)
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data = _lead_data()
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self.assertEqual(data.text, "SLOW")
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self.assertEqual(data.indicator_extra, "slower")
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self.assertEqual(data.indicator_value, 25.0)
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self.assertEqual(data.indicator_type, IndicatorType.LEAD)
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def test_lead_data_stopped(self):
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mock_ui_state.sm.valid["radarState"] = True
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mock_ui_state.sm["radarState"] = types.SimpleNamespace(
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leadOne=types.SimpleNamespace(status=True, vLead=0.5, dRel=12.0)
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)
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data = _lead_data()
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self.assertEqual(data.text, "STOPPED")
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self.assertEqual(data.indicator_extra, "stopped")
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self.assertEqual(data.indicator_value, 12.0)
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self.assertEqual(data.indicator_type, IndicatorType.LEAD)
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def test_is_stop_light(self):
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mock_ui_state.sm.valid["starpilotPlan"] = True
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mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
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experimentalMode=True,
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redLight=True,
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)
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self.assertTrue(_is_stop_light())
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mock_ui_state.sm["starpilotPlan"].redLight = False
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self.assertFalse(_is_stop_light())
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def test_is_curvature(self):
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mock_ui_state.sm.valid["starpilotPlan"] = True
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mock_ui_state.sm["starpilotPlan"] = types.SimpleNamespace(
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experimentalMode=True,
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roadCurvature=0.002,
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)
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self.assertTrue(_is_curvature())
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mock_ui_state.sm["starpilotPlan"].roadCurvature = 0.0005
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self.assertFalse(_is_curvature())
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if __name__ == "__main__":
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unittest.main()
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