IQ.Pilot Release Commit @ f2a861c

iqpilot/selfdrive/controls/lib/tests/test_turn_desire_cycling.py

@@ -0,0 +1,78 @@
+from types import SimpleNamespace
+
+import pytest
+
+from iqpilot.cereal import custom, log
+from iqpilot.common.realtime import DT_MDL
+from iqpilot.selfdrive.controls.lib.desire_helper import (
+  DesireHelper,
+  TURN_DESIRE_STOP_CYCLE_TIME,
+  TURN_DESIRE_STOP_HOLD_TIME,
+)
+
+
+TurnDirection = custom.IQTurnSignalDirection
+
+
+def helper(v_ego=0.0, yaw_rate=0.0):
+  result = DesireHelper.__new__(DesireHelper)
+  result._last_carstate = SimpleNamespace(vEgo=v_ego, yawRate=yaw_rate)
+  result.turn_desire_stop_timer = 0.0
+  result.turn_desire_stop_active = False
+  result.turn_desire_cycle_input = log.Desire.none
+  result.turn_desire_committed = False
+  result.nav_turn_direction = TurnDirection.none
+  result.lane_turn_direction = TurnDirection.none
+  result.lane_change_direction = log.LaneChangeDirection.none
+  result.lane_change_state = log.LaneChangeState.off
+  result.desire = log.Desire.none
+  return result
+
+
+@pytest.mark.parametrize("source", ["manual", "nav"])
+def test_manual_and_nav_turn_desires_receive_rising_edges(source):
+  h = helper()
+  if source == "manual":
+    h.lane_turn_direction = TurnDirection.turnLeft
+  else:
+    h.nav_turn_direction = TurnDirection.turnLeft
+
+  outputs = []
+  for _ in range(round((TURN_DESIRE_STOP_CYCLE_TIME + 2 * DT_MDL) / DT_MDL)):
+    h._pick_desire_output()
+    outputs.append(h.desire)
+
+  gap_index = next(i for i, output in enumerate(outputs) if output == log.Desire.none)
+  assert gap_index * DT_MDL == pytest.approx(TURN_DESIRE_STOP_HOLD_TIME, abs=DT_MDL * 1.1)
+  assert log.Desire.turnLeft in outputs[gap_index + 1:]
+
+
+def test_creeping_restarts_stopped_turn_cycle():
+  h = helper()
+  for _ in range(round(TURN_DESIRE_STOP_HOLD_TIME / DT_MDL)):
+    h._cycle_turn_desire_when_stopped(log.Desire.turnRight)
+
+  h._last_carstate.vEgo = 3.0
+  assert h._cycle_turn_desire_when_stopped(log.Desire.turnRight) == log.Desire.turnRight
+  h._last_carstate.vEgo = 0.0
+  assert h._cycle_turn_desire_when_stopped(log.Desire.turnRight) == log.Desire.turnRight
+  assert h.turn_desire_stop_timer == pytest.approx(DT_MDL)
+
+
+def test_measured_turn_commitment_stops_cycling():
+  h = helper()
+  h._last_carstate.yawRate = -0.1
+  assert h._cycle_turn_desire_when_stopped(log.Desire.turnLeft) == log.Desire.turnLeft
+  h._last_carstate.yawRate = 0.0
+
+  outputs = [h._cycle_turn_desire_when_stopped(log.Desire.turnLeft) for _ in range(300)]
+  assert set(outputs) == {log.Desire.turnLeft}
+
+
+def test_new_turn_direction_rearms_cycle_after_commitment():
+  h = helper(yaw_rate=0.1)
+  h._cycle_turn_desire_when_stopped(log.Desire.turnLeft)
+  h._last_carstate.yawRate = 0.0
+  h._cycle_turn_desire_when_stopped(log.Desire.turnRight)
+  assert h.turn_desire_committed is False
+  assert h.turn_desire_cycle_input == log.Desire.turnRight