github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
67 lines
2.9 KiB
Python
67 lines
2.9 KiB
Python
from opendbc.car.structs import car
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from openpilot.common.parameterized import parameterized_class
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from openpilot.selfdrive.selfdrived.events import Events
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from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper, DISTANCE_LONG_PRESS
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ButtonEvent = car.CarState.ButtonEvent
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ButtonType = car.CarState.ButtonEvent.Type
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@parameterized_class(('openpilot_longitudinal',), [(True,)])
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class TestCruiseHelper:
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def setup_method(self):
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self.CP = car.CarParams(openpilotLongitudinalControl=self.openpilot_longitudinal)
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self.cruise_helper = CruiseHelper(self.CP)
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self.cruise_helper.experimental_mode_switched = False
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self.events = Events()
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def reset(self):
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for _ in range(2):
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CS = car.CarState(cruiseState={"available": False})
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CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=False)]
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self.cruise_helper._experimental_mode = False
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self.cruise_helper.experimental_mode_switched = False
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self.cruise_helper.update(CS, self.events, False)
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def test_gap_adjust_cruise_long_press_toggle_mode(self) -> None:
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for pressed in (True, False):
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for experimental_mode in (True, False):
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self.reset()
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self.cruise_helper._experimental_mode = experimental_mode
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toggled_mode = not experimental_mode if pressed else experimental_mode
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for i in range(DISTANCE_LONG_PRESS):
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CS = car.CarState(cruiseState={"available": True})
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CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)] if i == 0 else []
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self.cruise_helper.update(CS, self.events, experimental_mode)
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# mode should be toggled
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assert self.cruise_helper._experimental_mode == toggled_mode
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assert self.cruise_helper.experimental_mode_switched is pressed
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# keep holding button after switching mode
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for _ in range(DISTANCE_LONG_PRESS):
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CS = car.CarState(cruiseState={"available": True})
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CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)]
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self.cruise_helper.update(CS, self.events, toggled_mode)
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# mode should not be toggled
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assert self.cruise_helper._experimental_mode == toggled_mode
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assert self.cruise_helper.experimental_mode_switched is pressed
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def test_gap_adjust_cruise_short_press_toggle_mode(self) -> None:
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for pressed in (True, False):
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for experimental_mode in (True, False):
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self.reset()
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self.cruise_helper._experimental_mode = experimental_mode
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for i in range(DISTANCE_LONG_PRESS - 1):
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CS = car.CarState(cruiseState={"available": True})
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CS.buttonEvents = [ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=pressed)] if i == 0 else []
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self.cruise_helper.update(CS, self.events, experimental_mode)
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# mode should not be toggled
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assert self.cruise_helper._experimental_mode == experimental_mode
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assert self.cruise_helper.experimental_mode_switched is False
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