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firestar5683
42 lines
1.7 KiB
Python
42 lines
1.7 KiB
Python
from cereal import car
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from openpilot.selfdrive.car.cruise_state import should_cancel_stock_cruise, should_flag_cruise_mismatch
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def make_cp(brand="hyundai", op_long=True, pcm_cruise=False):
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cp = car.CarParams.new_message()
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cp.brand = brand
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cp.openpilotLongitudinalControl = op_long
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cp.pcmCruise = pcm_cruise
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return cp
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def test_hyundai_openpilot_long_does_not_cancel_active_acc_req_feedback():
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cp = make_cp()
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assert not should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
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assert not should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=False)
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def test_hyundai_openpilot_long_still_flags_cruise_when_controls_disabled():
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cp = make_cp()
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assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=False)
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assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=False, effective_pcm_cruise=False)
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def test_non_hyundai_openpilot_long_behavior_is_unchanged():
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cp = make_cp(brand="toyota")
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assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
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assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=False)
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def test_pcm_cruise_behavior_is_unchanged():
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cp = make_cp(op_long=False, pcm_cruise=True)
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assert not should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=True)
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assert should_cancel_stock_cruise(cp, cruise_enabled=True, controls_enabled=False)
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assert not should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=True, effective_pcm_cruise=True)
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assert should_flag_cruise_mismatch(cp, cruise_enabled=True, controls_enabled=False, effective_pcm_cruise=True)
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