mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-14 19:43:46 +08:00
rav4kumar
58 lines
2.7 KiB
Python
58 lines
2.7 KiB
Python
import inspect
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import re
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from pathlib import Path
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from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
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from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
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REPO_ROOT = Path(__file__).resolve().parents[3]
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def test_smoothing_params_default_off():
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params_keys = (REPO_ROOT / "common/params_keys.h").read_text()
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assert re.search(r'"AccelPersonalityEnabled", \{PERSISTENT \| BACKUP, BOOL, "0"\}', params_keys)
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assert re.search(r'"RadarDistance", \{PERSISTENT \| BACKUP, BOOL, "0"\}', params_keys)
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# the retired dRel-bias sub-toggles must not return (their features were deleted in the input-shaping rewrite)
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assert '"StopGapBias"' not in params_keys
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assert '"LeadDecelAnticipate"' not in params_keys
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def test_output_is_byte_stock_and_inputs_are_shaped():
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update_src = inspect.getsource(LongitudinalPlanner.update)
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# INPUT shaping only: the accel ceiling and the radar-conditioning seam are present...
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assert "self.accel.get_max_accel(v_ego)" in update_src
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assert "self.mpc.update(self.smooth_radarstate(sm['radarState'])" in update_src
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# ...and the OUTPUT is never post-shaped (byte-stock output; no accel shaping, no should_stop override).
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assert "smooth_target_accel" not in update_src
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assert "sng_should_stop" not in update_src # reverted: the should_stop hysteresis caused a high-speed under-brake
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def test_t_follow_hook_wired_and_identity_default():
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init_src = inspect.getsource(LongitudinalPlanner.__init__)
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assert "self.mpc.t_follow_fn = self.accel.get_t_follow" in init_src # planner wires the add-only widen
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mpc_init = inspect.getsource(LongitudinalMpc.__init__)
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assert "self.t_follow_fn = None" in mpc_init # default None == byte-stock identity
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mpc_update = inspect.getsource(LongitudinalMpc.update)
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assert "if self.t_follow_fn is not None:" in mpc_update # guarded hook, only fires when set
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# Tokens for the reverted input-side DEC model-stop-target (capped v_target into the MPC pre-solve). It was
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# superseded by DEC blended-mode and chased a source-fixed radar gate; it must not silently return.
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_DEC_MODEL_STOP_TOKENS = ("apply_model_stop_target", "force_stop_requested", "_update_model_stop", "MODEL_STOP_TARGET_TIME")
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def test_dec_model_stop_target_not_reintroduced():
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this_file = Path(__file__).resolve()
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for sub in ("selfdrive/controls", "sunnypilot/selfdrive/controls"):
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for path in (REPO_ROOT / sub).rglob("*.py"):
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if path.resolve() == this_file:
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continue # this guard names the tokens as strings
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src = path.read_text()
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for token in _DEC_MODEL_STOP_TOKENS:
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assert token not in src, f"reverted DEC model-stop-target ({token}) re-introduced in {path}"
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