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eefc084302
version: sunnypilot v2025.003.000 (dev) date: 2025-12-18T05:48:43 master commit: 16c052af0835f049a67b80251d8cc1114fc08bb4
60 lines
3.1 KiB
Python
60 lines
3.1 KiB
Python
from cereal import car, custom
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from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
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class TestLongControlStateTransition:
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def test_stay_stopped(self):
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CP = car.CarParams.new_message()
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CP_SP = custom.CarParamsSP.new_message()
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active = True
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current_state = LongCtrlState.stopping
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
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should_stop=True, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
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should_stop=False, brake_pressed=True, cruise_standstill=False)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
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should_stop=False, brake_pressed=False, cruise_standstill=True)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
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should_stop=False, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.pid
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active = False
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
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should_stop=False, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.off
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def test_engage():
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CP = car.CarParams.new_message()
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CP_SP = custom.CarParamsSP.new_message()
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active = True
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current_state = LongCtrlState.off
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
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should_stop=True, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
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should_stop=False, brake_pressed=True, cruise_standstill=False)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
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should_stop=False, brake_pressed=False, cruise_standstill=True)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
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should_stop=False, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.pid
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def test_starting():
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CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
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CP_SP = custom.CarParamsSP.new_message()
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active = True
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current_state = LongCtrlState.starting
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
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should_stop=False, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.starting
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next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
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should_stop=False, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.pid
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