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104 lines
2.7 KiB
104 lines
2.7 KiB
#!/usr/bin/env python3
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import os
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import unittest
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from common.params import Params
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from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
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from selfdrive.manager.process_config import managed_processes
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def put_default_car_params():
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from selfdrive.car.honda.values import CAR
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from selfdrive.car.honda.interface import CarInterface
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cp = CarInterface.get_params(CAR.CIVIC)
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Params().put("CarParams", cp.to_bytes())
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# TODO: make new FCW tests
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maneuvers = [
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
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duration=50.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 20., 0.],
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speed_lead_breakpoints=[0., 15., 35.0],
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
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duration=50.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 20., 0.],
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speed_lead_breakpoints=[0., 15., 25.0],
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
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duration=50.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 20., 0.],
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speed_lead_breakpoints=[0., 15., 21.66],
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 5m/s^2',
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duration=40.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 20., 0.],
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speed_lead_breakpoints=[0., 15., 19.],
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),
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Maneuver(
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"approach stopped car at 20m/s",
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duration=30.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=50.,
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speed_lead_values=[0., 0.],
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speed_lead_breakpoints=[1., 11.],
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),
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]
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class LongitudinalControl(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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os.environ['SIMULATION'] = "1"
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os.environ['SKIP_FW_QUERY'] = "1"
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os.environ['NO_CAN_TIMEOUT'] = "1"
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params = Params()
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params.clear_all()
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params.put_bool("Passive", bool(os.getenv("PASSIVE")))
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("CommunityFeaturesToggle", True)
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# hack
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def test_longitudinal_setup(self):
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pass
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def run_maneuver_worker(k):
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def run(self):
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man = maneuvers[k]
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print(man.title)
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put_default_car_params()
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managed_processes['plannerd'].start()
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valid = man.evaluate()
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managed_processes['plannerd'].stop()
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self.assertTrue(valid)
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return run
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for k in range(len(maneuvers)):
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setattr(LongitudinalControl, f"test_longitudinal_maneuvers_{k+1}",
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run_maneuver_worker(k))
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if __name__ == "__main__":
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unittest.main(failfast=True)
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