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longcontrol: remove starting state (#38340)

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This commit is contained in:
Adeeb Shihadeh
2026-07-20 16:30:42 -07:00
committed by GitHub
parent b1f2e638de
commit 031b1ad0a3
3 changed files with 27 additions and 54 deletions
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openpilot/selfdrive/controls/tests/test_longcontrol.py
+20 -36
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@@ -1,56 +1,40 @@
from opendbc.car.structs import car
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
class TestLongControlStateTransition:
def test_stay_stopped(self):
CP = car.CarParams.new_message()
active = True
current_state = LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
next_state = long_control_state_trans(active, current_state,
should_stop=True, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
next_state = long_control_state_trans(active, current_state,
should_stop=False, brake_pressed=True, cruise_standstill=False)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
next_state = long_control_state_trans(active, current_state,
should_stop=False, brake_pressed=False, cruise_standstill=True)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
next_state = long_control_state_trans(active, current_state,
should_stop=False, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.pid
active = False
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
next_state = long_control_state_trans(active, current_state,
should_stop=False, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.off
def test_engage(self):
CP = car.CarParams.new_message()
active = True
current_state = LongCtrlState.off
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=True, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=True, cruise_standstill=False)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=False, cruise_standstill=True)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.pid
def test_starting(self):
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
active = True
current_state = LongCtrlState.starting
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
should_stop=False, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.starting
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
should_stop=False, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.pid
def test_engage():
active = True
current_state = LongCtrlState.off
next_state = long_control_state_trans(active, current_state,
should_stop=True, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(active, current_state,
should_stop=False, brake_pressed=True, cruise_standstill=False)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(active, current_state,
should_stop=False, brake_pressed=False, cruise_standstill=True)
assert next_state == LongCtrlState.stopping
next_state = long_control_state_trans(active, current_state,
should_stop=False, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.pid