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more tests

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This commit is contained in:
Jason Wen
2025-09-02 01:02:30 -04:00
parent b325fb2a9e
commit 157181bc86
1 changed files with 11 additions and 0 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py
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@@ -165,6 +165,7 @@ class TestSpeedLimitController:
def test_invalid_speed_limits_handling(self):
self.slc.state = SpeedLimitControlState.active
self.slc.v_cruise_setpoint_prev = REQUIRED_INITIAL_MAX_SET_SPEED
self.slc.last_valid_speed_limit_offsetted = SPEED_LIMITS['city']
invalid_limits = [-10, 0, 200 * CV.MPH_TO_MS]
@@ -173,3 +174,13 @@ class TestSpeedLimitController:
v_cruise_slc = self.slc.update(True, SPEED_LIMITS['city'], 0, REQUIRED_INITIAL_MAX_SET_SPEED, invalid_limit, 0, Source.car_state, self.events_sp)
assert isinstance(v_cruise_slc, (int, float))
assert v_cruise_slc == V_CRUISE_UNSET or v_cruise_slc > 0
def test_stale_data_handling(self):
self.slc.state = SpeedLimitControlState.active
self.slc.v_cruise_setpoint_prev = REQUIRED_INITIAL_MAX_SET_SPEED
old_speed_limit = SPEED_LIMITS['city']
self.slc.last_valid_speed_limit_offsetted = old_speed_limit
v_cruise_slc = self.slc.update(True, SPEED_LIMITS['city'], 0, REQUIRED_INITIAL_MAX_SET_SPEED, 0, 0, Source.car_state, self.events_sp)
assert self.slc.state in ACTIVE_STATES
assert v_cruise_slc == old_speed_limit