mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-04 05:53:42 +08:00
rav4kumar
56 lines
3.1 KiB
Python
56 lines
3.1 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.drive_helpers import STOPPING_SPEED, should_stop
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from openpilot.selfdrive.controls.lib.longcontrol import STOPPING_DECEL_RATE, 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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class TestTerminalStop(OpenpilotTestCase):
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def test_stopping_tune_is_gentler_than_upstream_default(self):
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# Upstream #38394 hardcoded a 1.0 m/s^2/s ramp and a 0.3 m/s latch. comma's own one-stopping-tune uses
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# 0.3 / 0.25, and every stop recorded on this car was driven with that pair. Both must stay on the less
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# braking side, or a future edit re-deepens the terminal brake unnoticed - which already happened once.
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assert 0.0 < STOPPING_DECEL_RATE <= 1.0
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assert 0.0 < STOPPING_SPEED <= 0.3
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assert should_stop(STOPPING_SPEED - 0.01, 0.0)
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assert not should_stop(0.29, 0.0) # the band upstream would latch in and we do not
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