IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/controls/tests/test_longcontrol.py

@@ -0,0 +1,72 @@
+from types import SimpleNamespace
+
+from iqpilot.cereal import custom
+from iqpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState, long_control_state_trans
+
+
+class TestLongControlStateTransition:
+
+  def test_stay_stopped(self):
+    CP_IQ = custom.IQCarParams.new_message()
+    active = True
+    current_state = LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_IQ, active, current_state,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_IQ, active, current_state,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_IQ, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_IQ, 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(CP_IQ, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.off
+
+def test_engage():
+  CP_IQ = custom.IQCarParams.new_message()
+  active = True
+  current_state = LongCtrlState.off
+  next_state = long_control_state_trans(CP_IQ, active, current_state,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP_IQ, active, current_state,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP_IQ, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP_IQ, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid
+
+
+def test_gas_override_preserves_negative_accel_command():
+  pid_calls = []
+  control = object.__new__(LongControl)
+  control.CP = SimpleNamespace(stopAccel=-0.55)
+  control.CP_IQ = SimpleNamespace(enableGasInterceptor=False)
+  control.long_control_state = LongCtrlState.pid
+  control.pid = SimpleNamespace(
+    update=lambda error, **kwargs: pid_calls.append((error, kwargs)) or -0.5,
+    reset=lambda: None,
+  )
+  control.last_output_accel = -0.4
+  control.stopping_decel_rate = 1.0
+  control.smooth = SimpleNamespace(enabled=False, update=lambda: None, reset=lambda: None)
+  car_state = SimpleNamespace(
+    vEgo=15.0,
+    aEgo=0.0,
+    brakePressed=False,
+    standstill=False,
+    cruiseState=SimpleNamespace(standstill=False),
+  )
+
+  output = control.update(True, car_state, -0.5, False, (-3.5, 2.0), gas_override=True)
+
+  assert output == -0.5
+  assert pid_calls == [(-0.5, {"speed": 15.0, "feedforward": -0.5, "freeze_integrator": True})]