mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-20 02:53:44 +08:00
Jason Wen
7461f70fdb
# Conflicts: # README.md # SConstruct # conftest.py # docs/CARS.md # msgq_repo # opendbc_repo # openpilot/common/params_keys.h # openpilot/common/params_pyx.pyx # openpilot/common/tests/test_swaglog.cc # openpilot/selfdrive/car/card.py # openpilot/selfdrive/car/tests/test_car_interfaces.py # openpilot/selfdrive/car/tests/test_cruise_speed.py # openpilot/selfdrive/car/tests/test_models.py # openpilot/selfdrive/controls/controlsd.py # openpilot/selfdrive/controls/lib/latcontrol_torque.py # openpilot/selfdrive/controls/lib/longitudinal_planner.py # openpilot/selfdrive/controls/plannerd.py # openpilot/selfdrive/controls/radard.py # openpilot/selfdrive/controls/tests/test_longcontrol.py # openpilot/selfdrive/locationd/torqued.py # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/monitoring/dmonitoringd.py # openpilot/selfdrive/monitoring/test_monitoring.py # openpilot/selfdrive/selfdrived/selfdrived.py # openpilot/selfdrive/selfdrived/tests/test_alertmanager.py # openpilot/selfdrive/test/longitudinal_maneuvers/plant.py # openpilot/selfdrive/test/process_replay/migration.py # openpilot/selfdrive/test/process_replay/process_replay.py # openpilot/selfdrive/ui/feedback/feedbackd.py # openpilot/selfdrive/ui/layouts/settings/device.py # openpilot/selfdrive/ui/layouts/settings/toggles.py # openpilot/selfdrive/ui/mici/layouts/onboarding.py # openpilot/selfdrive/ui/onroad/augmented_road_view.py # openpilot/selfdrive/ui/tests/test_soundd.py # openpilot/selfdrive/ui/translations/app.pot # openpilot/selfdrive/ui/translations/app_de.po # openpilot/selfdrive/ui/translations/app_en.po # openpilot/selfdrive/ui/translations/app_es.po # openpilot/selfdrive/ui/translations/app_fr.po # openpilot/selfdrive/ui/translations/app_ja.po # openpilot/selfdrive/ui/translations/app_ko.po # openpilot/selfdrive/ui/translations/app_pt-BR.po # openpilot/selfdrive/ui/translations/app_th.po # openpilot/selfdrive/ui/translations/app_tr.po # openpilot/selfdrive/ui/translations/app_uk.po # openpilot/selfdrive/ui/translations/app_zh-CHS.po # openpilot/selfdrive/ui/translations/app_zh-CHT.po # openpilot/system/athena/athenad.py # openpilot/system/hardware/hardwared.py # openpilot/system/loggerd/deleter.py # openpilot/system/manager/process_config.py # openpilot/system/ui/lib/application.py # panda # pyproject.toml # tinygrad_repo # uv.lock
45 lines
2.4 KiB
Python
45 lines
2.4 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.longcontrol import 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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