mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-13 00:32:10 +08:00
Jason Wen
bbf530027c
* Gap Adjust Cruise (GAC): init * cs: add longitudinal supported cars * disable for Toyota for now * send to car cluster * more * KrKeegan: More Aggresive Start from Standstill * fix * set prev button after * init bool * wrong var * use common update param function * bruh no wonder why * lock to default distance when using exp mode * make vw match other makes * implement ui button * gate ui button * log desired_TF * move button * only show when cruise state available * only allow press when cruise state available * Revert "KrKeegan: More Aggresive Start from Standstill" This reverts commit 20bdff34c83d5a0c248d6996155c995c8a99810f. * unnecessary * nothing else * pass it through * add toyota support * fixup! add toyota support * oops, necessary * don't show ui button when using e2e long * different signal to use * Forgot to update * Clean it up? * this? * ugh * force int!! * convert then round * hide when in exp mode * toyota: log button * Revert "different signal to use" This reverts commit edc64d31af527af842aabe2934e5720f73bf75cc. * toyota flippy flippy * wrong signal for vw * oops
58 lines
1.4 KiB
Python
58 lines
1.4 KiB
Python
#!/usr/bin/env python3
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import os
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import unittest
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from common.params import Params
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from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
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maneuvers = [
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# In Stock with jerk cost of 5.0 this results in a maximum desired_dist_diff of 51m
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# Setting jerk cost to 0 drops it down to 25m
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# Setting jerk cost to .5 drops it down to 38m
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Maneuver(
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'Start from standstill behind car acc at 1.2m/s',
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duration=20.,
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initial_speed=0.,
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lead_relevancy=True,
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initial_distance_lead=4, # In real world the stopping distance is less than desired
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speed_lead_values=[0., 12., 12.],
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breakpoints=[0., 10., 20.],
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cruise_values=[35., 35., 35.],
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),
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]
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class LongitudinalControl(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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os.environ['SIMULATION'] = "1"
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os.environ['SKIP_FW_QUERY'] = "1"
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os.environ['NO_CAN_TIMEOUT'] = "1"
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params = Params()
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params.clear_all()
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params.put_bool("Passive", bool(os.getenv("PASSIVE")))
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params.put_bool("OpenpilotEnabledToggle", True)
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# hack
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def test_longitudinal_setup(self):
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pass
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def run_maneuver_worker(k):
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def run(self):
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man = maneuvers[k]
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print(man.title)
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valid, _ = man.evaluate()
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self.assertTrue(valid, msg=man.title)
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return run
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for k in range(len(maneuvers)):
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setattr(LongitudinalControl, f"test_longitudinal_maneuvers_{k+1}",
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run_maneuver_worker(k))
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if __name__ == "__main__":
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unittest.main(failfast=True)
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