mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-23 12:12:06 +08:00
Adeeb Shihadeh
41 lines
2.1 KiB
Python
41 lines
2.1 KiB
Python
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
|
|
|
|
|
|
class TestLongControlStateTransition:
|
|
|
|
def test_stay_stopped(self):
|
|
active = True
|
|
current_state = LongCtrlState.stopping
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.pid
|
|
active = False
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.off
|
|
|
|
def test_engage():
|
|
active = True
|
|
current_state = LongCtrlState.off
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(active, current_state,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.pid
|