mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-23 23:02:04 +08:00
Jason Wen
14318d2f09
# Conflicts: # .github/labeler.yaml # .github/workflows/auto_pr_review.yaml # .github/workflows/docs.yaml # .github/workflows/release.yaml # .github/workflows/repo-maintenance.yaml # .github/workflows/tests.yaml # .github/workflows/ui_preview.yaml # README.md # SConstruct # conftest.py # docs/CARS.md # msgq_repo # opendbc_repo # openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py # openpilot/common/api.py # openpilot/common/hardware/hw.py # openpilot/common/version.py # openpilot/selfdrive/assets/fonts/Audiowide-Regular.ttf # openpilot/selfdrive/assets/sounds/prompt_single_high.wav # openpilot/selfdrive/assets/sounds/prompt_single_low.wav # openpilot/selfdrive/car/card.py # openpilot/selfdrive/car/helpers.py # openpilot/selfdrive/car/tests/test_car_interfaces.py # openpilot/selfdrive/car/tests/test_cruise_speed.py # openpilot/selfdrive/controls/lib/desire_helper.py # openpilot/selfdrive/controls/lib/longcontrol.py # openpilot/selfdrive/controls/plannerd.py # openpilot/selfdrive/controls/radard.py # openpilot/selfdrive/controls/tests/test_longcontrol.py # openpilot/selfdrive/modeld/compile_warp.py # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/monitoring/policy.py # openpilot/selfdrive/monitoring/test_monitoring.py # openpilot/selfdrive/selfdrived/events.py # openpilot/selfdrive/selfdrived/selfdrived.py # openpilot/selfdrive/ui/layouts/onboarding.py # openpilot/selfdrive/ui/mici/layouts/onboarding.py # openpilot/selfdrive/ui/soundd.py # openpilot/selfdrive/ui/tests/diff/replay.py # openpilot/selfdrive/ui/translations/app.pot # openpilot/system/athena/athenad.py # openpilot/system/athena/manage_athenad.py # openpilot/system/hardware/hardwared.py # openpilot/system/loggerd/config.py # openpilot/system/manager/github_runner.sh # openpilot/system/manager/manager.py # openpilot/system/updated/updated.py # panda # pyproject.toml # scripts/lint/lint.sh # system/manager/process_config.py # system/statsd.py # tinygrad_repo # tools/release/build_release.sh # tools/release/build_stripped.sh # uv.lock
61 lines
3.1 KiB
Python
61 lines
3.1 KiB
Python
from openpilot.cereal import custom
|
|
from opendbc.car.structs import car
|
|
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
|
|
|
|
|
|
|
|
|
|
class TestLongControlStateTransition:
|
|
|
|
def test_stay_stopped(self):
|
|
CP = car.CarParams.new_message()
|
|
CP_SP = custom.CarParamsSP.new_message()
|
|
active = True
|
|
current_state = LongCtrlState.stopping
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
|
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
|
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.pid
|
|
active = False
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.off
|
|
|
|
def test_engage():
|
|
CP = car.CarParams.new_message()
|
|
CP_SP = custom.CarParamsSP.new_message()
|
|
active = True
|
|
current_state = LongCtrlState.off
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
|
should_stop=True, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
|
should_stop=False, brake_pressed=True, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=True)
|
|
assert next_state == LongCtrlState.stopping
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.pid
|
|
|
|
def test_starting():
|
|
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
|
|
CP_SP = custom.CarParamsSP.new_message()
|
|
active = True
|
|
current_state = LongCtrlState.starting
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.starting
|
|
next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
|
|
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
|
assert next_state == LongCtrlState.pid
|