tests

2026-07-25 18:22:05 +08:00 · 2025-03-24 20:32:08 -04:00
parent 5d8026f8c6
commit 135ff49514
1 changed files with 120 additions and 0 deletions
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+from cereal import log
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import (
+  AutoLaneChangeController, AutoLaneChangeState, AUTO_LANE_CHANGE_TIMER, TIMER_DISABLED
+)
+
+
+class TestAutoLaneChangeController:
+  def setup_method(self):
+    self.DH = DesireHelper()
+    self.alc = AutoLaneChangeController(self.DH)
+
+  def test_reset(self):
+    """Test that reset correctly sets timers back to default."""
+    # Set some non-default values
+    self.alc.lane_change_wait_timer = 2.0
+    self.alc.prev_brake_pressed = True
+
+    # Set the DesireHelper to trigger a reset
+    self.DH.lane_change_state = LaneChangeState.off
+    self.DH.lane_change_direction = LaneChangeDirection.none
+
+    # Call reset
+    self.alc.reset()
+
+    # Check values were reset
+    assert self.alc.lane_change_wait_timer == 0.0
+    assert not self.alc.prev_brake_pressed
+
+  def test_nudge_mode(self):
+    """Test the default NUDGE mode behavior."""
+    self.alc.reset()
+    # Setup NUDGE mode
+    self.alc.lane_change_bsm_delay = False  # BSM delay off
+    self.alc.lane_change_set_timer = AutoLaneChangeState.NUDGE
+
+    # Update controller
+    for _ in range(100):  # Run for 5 seconds
+      self.alc.update(blindspot_detected=False, brake_pressed=False)
+
+    # Check behavior for NUDGE mode
+    assert self.alc.lane_change_delay == AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.NUDGE]
+    # NUDGE mode should not allow lane change immediately
+    assert not self.alc.auto_lane_change_allowed
+
+  def test_nudgeless_mode(self):
+    """Test the NUDGELESS mode behavior."""
+    self.alc.reset()
+    # Setup NUDGELESS mode
+    self.alc.lane_change_bsm_delay = False  # BSM delay off
+    self.alc.lane_change_set_timer = AutoLaneChangeState.NUDGELESS
+
+    # Update controller once to read params
+    self.alc.update(blindspot_detected=False, brake_pressed=False)
+
+    # Check the delay is set correctly for NUDGELESS
+    assert self.alc.lane_change_delay == AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.NUDGELESS]
+
+    # Update multiple times to exceed the timer threshold
+    for _ in range(1):  # Should exceed 0.1s with multiple DT_MDL updates
+      self.alc.update(blindspot_detected=False, brake_pressed=False)
+
+    # Now lane change should be allowed
+    assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+    assert self.alc.auto_lane_change_allowed
+
+  def test_timers(self):
+    for (timer_state, timer_delay) in ((AutoLaneChangeState.HALF_SECOND, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.HALF_SECOND]),
+                                       (AutoLaneChangeState.ONE_SECOND, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.ONE_SECOND]),
+                                       (AutoLaneChangeState.TWO_SECONDS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.TWO_SECONDS]),
+                                       (AutoLaneChangeState.THREE_SECONDS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.THREE_SECONDS])):
+      self.alc.reset()
+      self.alc.lane_change_bsm_delay = False  # BSM delay off
+      self.alc.lane_change_set_timer = timer_state
+
+      # Update controller once to read params
+      self.alc.update(blindspot_detected=False, brake_pressed=False)
+
+      # Check the delay is set correctly for TWO_SECONDS
+      assert self.alc.lane_change_delay == timer_delay
+
+      # The timer should still be below the threshold after one update
+      assert self.alc.lane_change_wait_timer < self.alc.lane_change_delay
+      assert not self.alc.auto_lane_change_allowed
+
+      # Update enough times to exceed the threshold (seconds / DT_MDL)
+      num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+      for _ in range(num_updates):
+        self.alc.update(blindspot_detected=False, brake_pressed=False)
+
+      # Now lane change should be allowed
+      assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+      assert self.alc.auto_lane_change_allowed
+
+  def test_blindspot_detected_with_bsm_delay(self):
+    """Test behavior when blindspot is detected with BSM delay enabled."""
+    self.alc.reset()
+    # Setup NUDGELESS mode with BSM delay enabled
+    self.alc.lane_change_bsm_delay = True  # BSM delay on
+    self.alc.lane_change_set_timer = AutoLaneChangeState.NUDGELESS
+
+    # Update with blindspot detected
+    self.alc.update(blindspot_detected=True, brake_pressed=False)
+
+    # For NUDGELESS with blindspot, timer should be disabled
+    assert self.alc.lane_change_wait_timer == TIMER_DISABLED
+    assert not self.alc.auto_lane_change_allowed
+
+    # Test with TWO_SECONDS timer
+    self.alc.lane_change_set_timer = AutoLaneChangeState.TWO_SECONDS
+    self.alc.reset()  # Reset timer
+
+    # Update with blindspot detected
+    self.alc.update(blindspot_detected=True, brake_pressed=False)
+
+    # For TWO_SECONDS with blindspot, timer should be set to delay-1
+    assert self.alc.lane_change_wait_timer == 1.0  # 2.0 - 1
+    assert not self.alc.auto_lane_change_allowed