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31 lines
913 B
Python
31 lines
913 B
Python
from cereal import car
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from openpilot.tools.joystick.joystickd import get_lateral_joystick_outputs
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class StubVehicleModel:
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def get_steer_from_curvature(self, curvature: float, v_ego: float, roll: float) -> float:
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return curvature
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def test_angle_cars_use_angle_outputs():
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CP = car.CarParams.new_message()
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CP.steerControlType = car.CarParams.SteerControlType.angle
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torque, steering_angle_deg, curvature = get_lateral_joystick_outputs(CP, StubVehicleModel(), 20.0, 0.0, 0.5)
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assert torque == 0.0
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assert steering_angle_deg != 0.0
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assert curvature < 0.0
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def test_torque_cars_keep_torque_outputs():
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CP = car.CarParams.new_message()
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CP.steerControlType = car.CarParams.SteerControlType.torque
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torque, steering_angle_deg, curvature = get_lateral_joystick_outputs(CP, StubVehicleModel(), 20.0, 0.0, 0.5)
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assert torque == 0.5
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assert steering_angle_deg != 0.0
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assert curvature < 0.0
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