sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/selfdrive/controls/tests/test_longcontrol.py

@@ -0,0 +1,60 @@
+from openpilot.cereal import custom
+from opendbc.car.structs import car
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+
+
+
+
+class TestLongControlStateTransition:
+
+  def test_stay_stopped(self):
+    CP = car.CarParams.new_message()
+    CP_SP = custom.CarParamsSP.new_message()
+    active = True
+    current_state = LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.pid
+    active = False
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.off
+
+def test_engage():
+  CP = car.CarParams.new_message()
+  CP_SP = custom.CarParamsSP.new_message()
+  active = True
+  current_state = LongCtrlState.off
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid
+
+def test_starting():
+  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  CP_SP = custom.CarParamsSP.new_message()
+  active = True
+  current_state = LongCtrlState.starting
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.starting
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid