longcontrol: remove starting state

Author: adeebshihadeh

openpilot/selfdrive/controls/lib/longcontrol.py

@@ -10,8 +10,7 @@
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego,
-                             should_stop, brake_pressed, cruise_standstill):
+def long_control_state_trans(active, long_control_state, should_stop, brake_pressed, cruise_standstill):
   starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
@@ -23,22 +22,17 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
     if long_control_state == LongCtrlState.off:
       if not starting_condition:
         long_control_state = LongCtrlState.stopping
-      elif CP.startingState:
-        long_control_state = LongCtrlState.starting
       else:
         long_control_state = LongCtrlState.pid
 
     elif long_control_state == LongCtrlState.stopping:
-      if starting_condition and CP.startingState:
-        long_control_state = LongCtrlState.starting
-      elif starting_condition:
+      if starting_condition:
         long_control_state = LongCtrlState.pid
 
-    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
+    elif long_control_state == LongCtrlState.pid:
       if should_stop:
         long_control_state = LongCtrlState.stopping
-      elif v_ego > CP.vEgoStarting:
-        long_control_state = LongCtrlState.pid
+
   return long_control_state
 
 class LongControl:
@@ -58,9 +52,8 @@ def update(self, active, CS, a_target, should_stop, accel_limits):
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
-                                                       should_stop, CS.brakePressed,
-                                                       CS.cruiseState.standstill)
+    self.long_control_state = long_control_state_trans(active, self.long_control_state, should_stop,
+                                                       CS.brakePressed, CS.cruiseState.standstill)
     if self.long_control_state == LongCtrlState.off:
       self.reset()
       output_accel = 0.
@@ -72,10 +65,6 @@ def update(self, active, CS, a_target, should_stop, accel_limits):
         output_accel -= self.CP.stoppingDecelRate * DT_CTRL
       self.reset()
 
-    elif self.long_control_state == LongCtrlState.starting:
-      output_accel = self.CP.startAccel
-      self.reset()
-
     else:  # LongCtrlState.pid
       error = a_target - CS.aEgo
       output_accel = self.pid.update(error, speed=CS.vEgo,

openpilot/selfdrive/controls/tests/test_longcontrol.py

@@ -1,56 +1,40 @@
-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()
     active = True
     current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
     active = False
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
 def test_engage():
-  CP = car.CarParams.new_message()
   active = True
   current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(active, current_state,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, 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)
-  active = True
-  current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, 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, active, current_state, v_ego=1.0,
+  next_state = long_control_state_trans(active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid