IQ.Pilot Release Commit @ fddcfba

selfdrive/controls/tests/test_drive_helpers.py

@@ -0,0 +1,20 @@
+import pytest
+
+from openpilot.selfdrive.controls.lib.drive_helpers import DEFAULT_STOPPING_SPEED, should_stop
+
+
+class TestShouldStop:
+  @pytest.mark.parametrize("v_ego, expected", [
+    (DEFAULT_STOPPING_SPEED - 0.01, True),
+    (DEFAULT_STOPPING_SPEED, False),
+  ])
+  def test_upstream_default(self, v_ego, expected):
+    assert should_stop(v_ego, -0.1) == expected
+
+  @pytest.mark.parametrize("stopping_speed", [0.55 / 3.6, 1.5 / 3.6])
+  def test_car_override(self, stopping_speed):
+    assert should_stop(stopping_speed - 0.01, -0.1, stopping_speed)
+    assert not should_stop(stopping_speed, -0.1, stopping_speed)
+
+  def test_requires_deceleration(self):
+    assert not should_stop(0.0, 0.1, 1.0)

selfdrive/controls/tests/test_latcontrol.py

@@ -1,12 +1,12 @@
 from parameterized import parameterized
 
 from cereal import car, log
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.honda.values import CAR as HONDA
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.nissan.values import CAR as NISSAN
-from opendbc.car.gm.values import CAR as GM
-from opendbc.car.vehicle_model import VehicleModel
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.honda.values import CAR as HONDA
+from iqdbc.car.toyota.values import CAR as TOYOTA
+from iqdbc.car.nissan.values import CAR as NISSAN
+from iqdbc.car.gm.values import CAR as GM
+from iqdbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID

selfdrive/controls/tests/test_latcontrol_torque_buffer.py

@@ -1,9 +1,9 @@
 from parameterized import parameterized
 
 from cereal import car, log
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.vehicle_model import VehicleModel
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.toyota.values import CAR as TOYOTA
+from iqdbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque, LAT_ACCEL_REQUEST_BUFFER_SECONDS
 

selfdrive/controls/tests/test_leads.py

@@ -1,6 +1,6 @@
 import cereal.messaging as messaging
 
-from opendbc.car.toyota.values import CAR as TOYOTA
+from iqdbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
 
 

selfdrive/controls/tests/test_longcontrol.py

@@ -1,59 +1,43 @@
-from cereal import car, custom
+from cereal import custom
 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_IQ = custom.IQCarParams.new_message()
     active = True
     current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_IQ, active, current_state, v_ego=0.1,
+    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, CP_IQ, active, current_state, v_ego=0.1,
+    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, CP_IQ, active, current_state, v_ego=0.1,
+    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, CP_IQ, active, current_state, v_ego=1.0,
+    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, CP_IQ, active, current_state, v_ego=1.0,
+    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 = car.CarParams.new_message()
   CP_IQ = custom.IQCarParams.new_message()
   active = True
   current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, CP_IQ, active, current_state, v_ego=0.1,
+  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, CP_IQ, active, current_state, v_ego=0.1,
+  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, CP_IQ, active, current_state, v_ego=0.1,
+  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, CP_IQ, 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_IQ = custom.IQCarParams.new_message()
-  active = True
-  current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, CP_IQ, 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_IQ, active, current_state, v_ego=1.0,
+  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

selfdrive/controls/tests/test_torqued_lat_accel_offset.py

@@ -1,8 +1,8 @@
 import numpy as np
 from cereal import car, messaging
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
-from opendbc.car import structs
-from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
+from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY
+from iqdbc.car import structs
+from iqdbc.car.lateral import get_friction, FRICTION_THRESHOLD
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS