mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-05 00:05:57 +08:00
Jason Wen
0c506c868d
* Controls: Pause lateral control based on blinker state and vehicle speed * in its own module * tests * cleanup tests * ui * always refresh on show panel * remove default * change to 20 default * need to update params live * shorter * off by default * lol lint * use ExpandableToggleRow * not needed * shorter * ci ui preview delay for all offroad * more * Revert "more" This reverts commit 809cfd99dac4183e318f3f7dff8e7c14f8223d62. * Revert "ci ui preview delay for all offroad" This reverts commit ab38292fa84165081e32fcfc7b44f7f7afdfe791. --------- Co-authored-by: nayan8teen <nayan8teen@gmail.com>
131 lines
3.6 KiB
Python
131 lines
3.6 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
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class TestBlinkerPauseLateral:
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def setup_method(self):
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self.blinker_pause_lateral = BlinkerPauseLateral()
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self._reset_states()
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def _reset_states(self):
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self.blinker_pause_lateral.enabled = True
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self.blinker_pause_lateral.is_metric = False
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self.blinker_pause_lateral.min_speed = 20 # MPH
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self.CS = car.CarState.new_message()
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self.CS.vEgo = 0
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self.CS.leftBlinker = False
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self.CS.rightBlinker = False
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def _test_should_blinker_pause_lateral(self, expected_results) -> None:
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for left in (True, False):
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for right in (True, False):
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self.CS.leftBlinker = left
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self.CS.rightBlinker = right
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result = self.blinker_pause_lateral.update(self.CS)
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assert result == expected_results[(left, right)]
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def test_below_min_speed_blinker(self):
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self.CS.vEgo = 4.5 # ~10 MPH
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expected_results = {
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(False, False): False,
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(True, False): True,
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(False, True): True,
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(True, True): False
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}
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self._test_should_blinker_pause_lateral(expected_results)
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def test_above_min_speed_blinker(self):
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self.CS.vEgo = 13.4 # ~30 MPH
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expected_results = {
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(False, False): False,
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(True, False): False,
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(False, True): False,
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(True, True): False
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}
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self._test_should_blinker_pause_lateral(expected_results)
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def test_just_below_min_speed(self):
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self.CS.vEgo = (20 * CV.MPH_TO_MS) - 0.01
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expected_results = {
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(False, False): False,
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(True, False): True,
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(False, True): True,
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(True, True): False
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}
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self._test_should_blinker_pause_lateral(expected_results)
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def test_disabled(self):
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self.blinker_pause_lateral.enabled = False
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self.CS.vEgo = 4.5 # ~10 MPH
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expected_results = {
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(False, False): False,
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(True, False): False,
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(False, True): False,
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(True, True): False
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}
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self._test_should_blinker_pause_lateral(expected_results)
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def test_metric_units_below_min_speed(self):
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self.blinker_pause_lateral.is_metric = True
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self.CS.vEgo = 5.0 # ~18 km/h
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expected_results = {
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(False, False): False,
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(True, False): True,
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(False, True): True,
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(True, True): False
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}
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self._test_should_blinker_pause_lateral(expected_results)
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def test_metric_units_above_threshold(self):
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self.blinker_pause_lateral.is_metric = True
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self.CS.vEgo = 6.0 # ~21.6 km/h
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expected_results = {
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(False, False): False,
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(True, False): False,
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(False, True): False,
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(True, True): False
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}
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self._test_should_blinker_pause_lateral(expected_results)
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def test_change_min_speed_threshold(self):
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self.blinker_pause_lateral.min_speed = 30 # MPH
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# below min speed
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self.CS.vEgo = 11.2 # ~25 MPH
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expected_results = {
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(False, False): False,
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(True, False): True,
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(False, True): True,
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(True, True): False
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}
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self._test_should_blinker_pause_lateral(expected_results)
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# above min speed
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self.CS.vEgo = 15.6 # ~35 MPH
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expected_results = {
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(False, False): False,
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(True, False): False,
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(False, True): False,
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(True, True): False
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}
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self._test_should_blinker_pause_lateral(expected_results)
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