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fix tests

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This commit is contained in:
Jason Wen
2025-01-16 14:24:27 -05:00
parent baf0506033
commit 90d38a7968
1 changed files with 13 additions and 12 deletions
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selfdrive/car/tests/test_cruise_speed.py
+13 -12
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@@ -57,16 +57,16 @@ class TestVCruiseHelper:
for _ in range(2):
self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
def enable(self, v_ego, experimental_mode):
def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
# Simulates user pressing set with a current speed
self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
def test_adjust_speed(self):
"""
Asserts speed changes on falling edges of buttons.
"""
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
for pressed in (True, False):
@@ -90,7 +90,7 @@ class TestVCruiseHelper:
CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
if pressed:
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
# Expected diff on enabling. Speed should not change on falling edge of pressed
assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
@@ -100,7 +100,7 @@ class TestVCruiseHelper:
Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
"""
self.enable(0, False)
self.enable(0, False, False)
for standstill in (True, False):
for pressed in (True, False):
@@ -120,7 +120,7 @@ class TestVCruiseHelper:
for v_ego in np.linspace(0, 100, 101):
self.reset_cruise_speed_state()
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
# first decrement speed, then perform gas pressed logic
expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -142,10 +142,11 @@ class TestVCruiseHelper:
"""
for experimental_mode in (True, False):
for v_ego in np.linspace(0, 100, 101):
self.reset_cruise_speed_state()
assert not self.v_cruise_helper.v_cruise_initialized
for dynamic_experimental_control in (True, False):
for v_ego in np.linspace(0, 100, 101):
self.reset_cruise_speed_state()
assert not self.v_cruise_helper.v_cruise_initialized
self.enable(float(v_ego), experimental_mode)
assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
assert self.v_cruise_helper.v_cruise_initialized
self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
assert self.v_cruise_helper.v_cruise_initialized