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IQ.Pilot Release Commit @ f82ff4d

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IQ.Lvbs CI [bot]
2026-07-21 13:43:46 -05:00
parent 7b20edda67
commit b712a31728
717 changed files with 4347 additions and 3060 deletions
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36
selfdrive/controls/tests/test_longcontrol.py
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@@ -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