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Longitudinal planner: fix tests (#26707)

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fix tests
This commit is contained in:
Shane Smiskol
2022-12-05 15:23:00 -08:00
committed by GitHub
parent 4d74e44ae1
commit be0c2dbbf9
1 changed files with 3 additions and 0 deletions
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3
selfdrive/test/longitudinal_maneuvers/plant.py
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@@ -4,6 +4,7 @@ import numpy as np
from cereal import log
import cereal.messaging as messaging
from common.params import Params
from common.realtime import Ratekeeper, DT_MDL
from selfdrive.controls.lib.longcontrol import LongCtrlState
from selfdrive.modeld.constants import T_IDXS
@@ -17,6 +18,7 @@ class Plant:
def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
enabled=True, only_lead2=False, only_radar=False):
self.rate = 1. / DT_MDL
self.params = Params()
if not Plant.messaging_initialized:
Plant.radar = messaging.pub_sock('radarState')
@@ -109,6 +111,7 @@ class Plant:
control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
control.controlsState.vCruise = float(v_cruise * 3.6)
control.controlsState.experimentalMode = self.params.get_bool("ExperimentalMode")
car_state.carState.vEgo = float(self.speed)
car_state.carState.standstill = self.speed < 0.01