IQ.Pilot Release Commit @ 0798119

selfdrive/controls/tests/test_longcontrol.py

@@ -0,0 +1,43 @@
+from cereal import custom
+from openpilot.selfdrive.controls.lib.longcontrol import 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