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0e51ecbb7e
version: sunnypilot v2026.003.000 (dev)
date: 2026-09-09T15:43:49
master commit: b255314f5a
45 lines
2.4 KiB
Python
45 lines
2.4 KiB
Python
from openpilot.common.test import OpenpilotTestCase
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from openpilot.cereal import custom
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from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
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class TestLongControlStateTransition(OpenpilotTestCase):
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def test_stay_stopped(self):
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CP_SP = custom.CarParamsSP.new_message()
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active = True
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current_state = LongCtrlState.stopping
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=True, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=False, brake_pressed=True, cruise_standstill=False)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=False, brake_pressed=False, cruise_standstill=True)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=False, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.pid
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active = False
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=False, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.off
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def test_engage(self):
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CP_SP = custom.CarParamsSP.new_message()
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active = True
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current_state = LongCtrlState.off
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=True, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=False, brake_pressed=True, cruise_standstill=False)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=False, brake_pressed=False, cruise_standstill=True)
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assert next_state == LongCtrlState.stopping
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next_state = long_control_state_trans(CP_SP, active, current_state,
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should_stop=False, brake_pressed=False, cruise_standstill=False)
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assert next_state == LongCtrlState.pid
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