39 lines
1020 B
39 lines
1020 B
#!/usr/bin/env python3
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import unittest
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import numpy as np
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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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def run_cruise_simulation(cruise, 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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)
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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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class TestCruiseSpeed(unittest.TestCase):
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def test_cruise_speed(self):
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params = Params()
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for e2e in [False, True]:
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params.put_bool("EndToEndLong", e2e)
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for speed in np.arange(5, 40, 5):
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print(f'Testing {speed} m/s')
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cruise_speed = float(speed)
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simulation_steady_state = run_cruise_simulation(cruise_speed)
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self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
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if __name__ == "__main__":
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unittest.main()
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