test init

sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_controller.py

@@ -0,0 +1,52 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.toyota.values import CAR as TOYOTA
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_controller import SpeedLimitController
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+
+class TestSpeedLimitController:
+
+  def _setup_platform(self, car_name):
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP)
+
+    sunnypilot_interfaces.setup_interfaces(CI, self.params)
+
+    return CI
+
+  def setup_method(self):
+    self.params = Params()
+    self.reset_custom_params()
+    self.events_sp = EventsSP()
+    CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2_2022)
+    self.slc = SpeedLimitController(CI.CP)
+
+  def reset_custom_params(self):
+    self.params.put_bool("SpeedLimitControl", False)
+    self.params.put_bool("IsMetric", False)
+    self.params.put("SpeedLimitOffsetType", 0)
+    self.params.put("SpeedLimitValueOffset", 0)
+    self.params.put("SpeedLimitWarningType", 0)
+    self.params.put("SpeedLimitWarningOffsetType", 0)
+    self.params.put("SpeedLimitWarningValueOffset", 0)
+
+  def test_disabled(self):
+    for v_ego in np.linspace(0, 100, 101):
+      for source in (Source.car_state, Source.map_data):
+        v_cruise_slc = self.slc.update(True, v_ego, 0, 50 * CV.MS_TO_MPH, 50 * CV.MS_TO_MPH, 0, source, self.events_sp)
+        assert v_cruise_slc == V_CRUISE_UNSET