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Integrate radar parameter into dynamic controller's pytest tests

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Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases.
This commit is contained in:
DevTekVE
2025-01-12 13:28:59 +01:00
parent d63a191ffd
commit a061a77c33
1 changed files with 37 additions and 27 deletions
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sunnypilot/selfdrive/controls/lib/tests/pytest_dynamic_controller.py
+37 -27
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@@ -64,7 +64,8 @@ def test_initial_state(controller):
assert not controller._has_dangerous_ttc
assert not controller._has_mpc_fcw
def test_standstill_detection(controller):
@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
def test_standstill_detection(controller, has_radar):
"""Test standstill detection and state transitions"""
car_state = MockCarState(standstill=True)
lead_one = MockLeadOne()
@@ -72,21 +73,22 @@ def test_standstill_detection(controller):
controls_state = MockControlState()
# Test transition to standstill
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._sng_state == SNG_State.stopped
assert controller.get_mpc_mode() == 'blended'
# Test transition from standstill to moving
car_state.standstill = False
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._sng_state == SNG_State.going
# Test complete transition to normal driving
for _ in range(STOP_AND_GO_FRAME + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._sng_state == SNG_State.off
def test_lead_detection(controller):
@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
def test_lead_detection(controller, has_radar):
"""Test lead vehicle detection and filtering"""
car_state = MockCarState(v_ego=20) # 72 kph
lead_one = MockLeadOne(status=True, d_rel=50) # Safe distance
@@ -95,19 +97,21 @@ def test_lead_detection(controller):
# Let moving average stabilize
for _ in range(LEAD_WINDOW_SIZE + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._has_lead_filtered
assert controller.get_mpc_mode() == 'acc'
expected_mode = 'acc' if has_radar else 'blended'
assert controller.get_mpc_mode() == expected_mode
# Test lead loss detection
lead_one.status = False
for _ in range(LEAD_WINDOW_SIZE + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert not controller._has_lead_filtered
def test_slow_down_detection(controller):
@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
def test_slow_down_detection(controller, has_radar):
"""Test slow down detection based on trajectory"""
car_state = MockCarState(v_ego=10/3.6) # 10 kph
lead_one = MockLeadOne()
@@ -118,7 +122,7 @@ def test_slow_down_detection(controller):
# Test slow down detection
for _ in range(SLOW_DOWN_WINDOW_SIZE + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._has_slow_down
assert controller.get_mpc_mode() == 'blended'
@@ -127,11 +131,12 @@ def test_slow_down_detection(controller):
positions = [200] * TRAJECTORY_SIZE # Position outside slow down threshold
md = MockModelData(x_vals=x_vals, positions=positions)
for _ in range(SLOW_DOWN_WINDOW_SIZE + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert not controller._has_slow_down
def test_dangerous_ttc_detection(controller):
@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
def test_dangerous_ttc_detection(controller, has_radar):
"""Test Time-To-Collision detection and handling"""
car_state = MockCarState(v_ego=10) # 36 kph
lead_one = MockLeadOne(status=True)
@@ -141,7 +146,7 @@ def test_dangerous_ttc_detection(controller):
# First establish normal conditions with lead
lead_one.dRel = 100 # Safe distance
for _ in range(LEAD_WINDOW_SIZE + 1): # First establish lead detection
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._has_lead_filtered # Verify lead is detected
@@ -151,15 +156,17 @@ def test_dangerous_ttc_detection(controller):
# Need to update multiple times to allow the weighted average to stabilize
for _ in range(DANGEROUS_TTC_WINDOW_SIZE * 2):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._has_dangerous_ttc, f"TTC of 1s should be considered dangerous"
assert controller.get_mpc_mode() == 'blended', "Should be in blended mode with dangerous TTC"
expected_mode = 'acc' if has_radar else 'blended'
assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
def test_mode_transitions(controller):
@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
def test_mode_transitions(controller, has_radar):
"""Test comprehensive mode transitions under different conditions"""
# Initialize with normal driving conditions
car_state = MockCarState(v_ego=25) # 90 kph
car_state = MockCarState(v_ego=25)# 90 kph
lead_one = MockLeadOne(status=False)
md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
controls_state = MockControlState(v_cruise=100)
@@ -168,7 +175,7 @@ def test_mode_transitions(controller):
"""Helper to let all moving averages stabilize"""
for _ in range(max(LEAD_WINDOW_SIZE, SLOW_DOWN_WINDOW_SIZE,
DANGEROUS_TTC_WINDOW_SIZE, MPC_FCW_WINDOW_SIZE) + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
# Test 1: Normal driving -> ACC mode
stabilize_filters()
@@ -176,14 +183,15 @@ def test_mode_transitions(controller):
# Test 2: Standstill -> Blended mode
car_state.standstill = True
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
# Test 3: Lead car appears -> ACC mode
car_state = MockCarState(v_ego=25) # Reset car state
car_state = MockCarState(v_ego=20) # Reset car state
lead_one.status = True
lead_one.dRel = 50
lead_one.dRel = 50 # Safe distance
stabilize_filters()
assert controller._has_dangerous_ttc == False, "Should not have dangerous TTC"
assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
# Test 4: Dangerous TTC -> Blended mode
@@ -193,7 +201,7 @@ def test_mode_transitions(controller):
# First establish lead detection
for _ in range(LEAD_WINDOW_SIZE + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._has_lead_filtered # Verify lead is detected
@@ -201,12 +209,14 @@ def test_mode_transitions(controller):
lead_one.dRel = 20 # This creates a TTC of 1s, well below DANGEROUS_TTC
for _ in range(DANGEROUS_TTC_WINDOW_SIZE * 2):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
assert controller.get_mpc_mode() == 'blended', "Should be in blended mode with dangerous TTC"
expected_mode = 'acc' if has_radar else 'blended'
assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
def test_mpc_fcw_handling(controller):
@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
def test_mpc_fcw_handling(controller, has_radar):
"""Test MPC FCW crash count handling and mode transitions"""
car_state = MockCarState(v_ego=20)
lead_one = MockLeadOne()
@@ -216,7 +226,7 @@ def test_mpc_fcw_handling(controller):
# Test FCW activation
controller.set_mpc_fcw_crash_cnt(5)
for _ in range(MPC_FCW_WINDOW_SIZE + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert controller._has_mpc_fcw
assert controller.get_mpc_mode() == 'blended'
@@ -224,7 +234,7 @@ def test_mpc_fcw_handling(controller):
# Test FCW recovery
controller.set_mpc_fcw_crash_cnt(0)
for _ in range(MPC_FCW_WINDOW_SIZE + 1):
controller.update(False, car_state, lead_one, md, controls_state)
controller.update(not has_radar, car_state, lead_one, md, controls_state)
assert not controller._has_mpc_fcw