IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/controls/tests/test_drive_helpers.py

@@ -0,0 +1,20 @@
+import pytest
+
+from iqpilot.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)