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156 lines
6.0 KiB
156 lines
6.0 KiB
#!/usr/bin/env python3
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import itertools
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import numpy as np
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import unittest
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from parameterized import parameterized_class
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from cereal import log
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from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
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ButtonEvent = car.CarState.ButtonEvent
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ButtonType = car.CarState.ButtonEvent.Type
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def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
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man = Maneuver(
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'',
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duration=t_end,
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initial_speed=max(cruise - 1., 0.0),
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lead_relevancy=True,
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initial_distance_lead=100,
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cruise_values=[cruise],
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prob_lead_values=[0.0],
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breakpoints=[0.],
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e2e=e2e,
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personality=personality,
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)
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valid, output = man.evaluate()
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assert valid
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return output[-1, 3]
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@parameterized_class(("e2e", "personality", "speed"), itertools.product(
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[True, False], # e2e
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log.LongitudinalPersonality.schema.enumerants, # personality
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[5,35])) # speed
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class TestCruiseSpeed(unittest.TestCase):
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def test_cruise_speed(self):
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print(f'Testing {self.speed} m/s')
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cruise_speed = float(self.speed)
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simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
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self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
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# TODO: test pcmCruise
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@parameterized_class(('pcm_cruise',), [(False,)])
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class TestVCruiseHelper(unittest.TestCase):
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def setUp(self):
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self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
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self.v_cruise_helper = VCruiseHelper(self.CP)
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self.reset_cruise_speed_state()
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def reset_cruise_speed_state(self):
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# Two resets previous cruise speed
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for _ in range(2):
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self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
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def enable(self, v_ego, experimental_mode):
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# Simulates user pressing set with a current speed
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self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
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def test_adjust_speed(self):
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"""
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Asserts speed changes on falling edges of buttons.
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"""
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self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
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for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
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for pressed in (True, False):
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CS = car.CarState(cruiseState={"available": True})
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CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)]
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self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
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self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
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def test_rising_edge_enable(self):
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"""
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Some car interfaces may enable on rising edge of a button,
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ensure we don't adjust speed if enabled changes mid-press.
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"""
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# NOTE: enabled is always one frame behind the result from button press in controlsd
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for enabled, pressed in ((False, False),
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(False, True),
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(True, False)):
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CS = car.CarState(cruiseState={"available": True})
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CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
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self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
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if pressed:
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self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
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# Expected diff on enabling. Speed should not change on falling edge of pressed
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self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
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def test_resume_in_standstill(self):
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"""
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Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
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"""
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self.enable(0, False)
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for standstill in (True, False):
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for pressed in (True, False):
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CS = car.CarState(cruiseState={"available": True, "standstill": standstill})
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CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)]
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self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
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# speed should only update if not at standstill and button falling edge
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should_equal = standstill or pressed
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self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
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def test_set_gas_pressed(self):
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"""
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Asserts pressing set while enabled with gas pressed sets
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the speed to the maximum of vEgo and current cruise speed.
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"""
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for v_ego in np.linspace(0, 100, 101):
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self.reset_cruise_speed_state()
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self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
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# first decrement speed, then perform gas pressed logic
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expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
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expected_v_cruise_kph = max(expected_v_cruise_kph, v_ego * CV.MS_TO_KPH) # clip to min of vEgo
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expected_v_cruise_kph = float(np.clip(round(expected_v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX))
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CS = car.CarState(vEgo=float(v_ego), gasPressed=True, cruiseState={"available": True})
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CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)]
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self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
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# TODO: fix skipping first run due to enabled on rising edge exception
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if v_ego == 0.0:
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continue
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self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph)
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def test_initialize_v_cruise(self):
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"""
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Asserts allowed cruise speeds on enabling with SET.
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"""
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for experimental_mode in (True, False):
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for v_ego in np.linspace(0, 100, 101):
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self.reset_cruise_speed_state()
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self.assertFalse(self.v_cruise_helper.v_cruise_initialized)
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self.enable(float(v_ego), experimental_mode)
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self.assertTrue(V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX)
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self.assertTrue(self.v_cruise_helper.v_cruise_initialized)
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if __name__ == "__main__":
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unittest.main()
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