mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-13 04:52:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

slight fixes for tests

Browse Source
This commit is contained in:
Jason Wen
2025-09-25 01:26:26 -04:00
parent 62756b4e1a
commit b4905695ee
1 changed files with 20 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+20 -19
View File
@@ -47,6 +47,7 @@ class TestSpeedLimitAssist:
self.sla = SpeedLimitAssist(CI.CP)
self.sm = {'carState': generate_carState()}
self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1] # use 80 MPH for now
def teardown_method(self, method):
self.reset_state()
@@ -102,7 +103,7 @@ class TestSpeedLimitAssist:
def test_preactive_to_active_with_max_speed_confirmation(self):
self.sla.state = SpeedLimitAssistState.preActive
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state == SpeedLimitAssistState.active
assert self.sla.is_enabled and self.sla.is_active, f"enabled: {self.sla.is_enabled}, active: {self.sla.is_active}"
assert self.sla.output_v_target == SPEED_LIMITS['city']
@@ -117,32 +118,32 @@ class TestSpeedLimitAssist:
def test_preactive_to_pending_no_speed_limit(self):
self.sla.state = SpeedLimitAssistState.preActive
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], 0, 0, False, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, 0, 0, False, 0, self.events_sp, self.sm['carState'])
assert self.sla.state == SpeedLimitAssistState.pending
assert self.sla.is_enabled and not self.sla.is_active
def test_pending_to_active_when_speed_limit_available(self):
self.sla.state = SpeedLimitAssistState.pending
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state == SpeedLimitAssistState.active
def test_pending_to_adapting_when_below_speed_limit(self):
self.sla.state = SpeedLimitAssistState.pending
self.sla.update(True, False, SPEED_LIMITS['city'] + 5, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'] + 5, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state == SpeedLimitAssistState.adapting
assert self.sla.is_enabled and self.sla.is_active
def test_active_to_adapting_transition(self):
self.initialize_active_state(PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric])
self.initialize_active_state(self.pcm_long_max_set_speed)
self.sla.update(True, False, SPEED_LIMITS['city'] + 2, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'] + 2, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state == SpeedLimitAssistState.adapting
def test_adapting_to_active_transition(self):
self.sla.state = SpeedLimitAssistState.adapting
self.sla.v_cruise_cluster_prev = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric]
self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state == SpeedLimitAssistState.active
def test_manual_cruise_change_detection(self):
@@ -155,47 +156,47 @@ class TestSpeedLimitAssist:
assert self.sla.state == SpeedLimitAssistState.inactive
def test_rapid_speed_limit_changes(self):
self.initialize_active_state(PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric])
self.initialize_active_state(self.pcm_long_max_set_speed)
speed_limits = [SPEED_LIMITS['city'], SPEED_LIMITS['highway'], SPEED_LIMITS['residential']]
for _, speed_limit in enumerate(speed_limits):
self.sla.update(True, False, speed_limit, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], speed_limit, speed_limit, True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, speed_limit, 0, self.pcm_long_max_set_speed, speed_limit, speed_limit, True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state in ACTIVE_STATES
def test_invalid_speed_limits_handling(self):
self.initialize_active_state(PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric])
self.initialize_active_state(self.pcm_long_max_set_speed)
invalid_limits = [-10, 0, 200 * CV.MPH_TO_MS]
for invalid_limit in invalid_limits:
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], invalid_limit, SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, invalid_limit, SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
assert isinstance(self.sla.output_v_target, (int, float))
assert self.sla.output_v_target == V_CRUISE_UNSET or self.sla.output_v_target > 0
def test_stale_data_handling(self):
self.initialize_active_state(PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric])
self.initialize_active_state(self.pcm_long_max_set_speed)
old_speed_limit = SPEED_LIMITS['city']
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], 0, old_speed_limit, True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, 0, old_speed_limit, True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state in ACTIVE_STATES
assert self.sla.output_v_target == old_speed_limit
def test_distance_based_adapting(self):
self.sla.state = SpeedLimitAssistState.adapting
self.sla.v_cruise_cluster_prev = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric]
self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
distance = 100.0
current_speed = SPEED_LIMITS['highway']
target_speed = SPEED_LIMITS['city']
self.sla.update(True, False, current_speed, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], target_speed, target_speed, True, distance, self.events_sp, self.sm['carState'])
self.sla.update(True, False, current_speed, 0, self.pcm_long_max_set_speed, target_speed, target_speed, True, distance, self.events_sp, self.sm['carState'])
assert self.sla.state == SpeedLimitAssistState.adapting
assert self.sla.output_v_target == target_speed # TODO-SP: assert expected accel, need to enable self.acceleration_solutions
def test_long_disengaged_to_disabled(self):
self.initialize_active_state(PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric])
self.initialize_active_state(self.pcm_long_max_set_speed)
self.sla.update(False, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'],
self.sla.update(False, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'],
SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state == SpeedLimitAssistState.disabled
assert self.sla.output_v_target == V_CRUISE_UNSET
@@ -215,7 +216,7 @@ class TestSpeedLimitAssist:
initial_state = state
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
assert self.sla.state in ALL_STATES # Sanity check