mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-09-30 11:23:55 +08:00
Shane Smiskol
f3414250a3
* start at param * start by sending personality * change to personality * POC: button changes personality * what's wrong with this? * fix * not really possible but fuzzy test catches this * there's always a typo * dang, we're dropping messages * clean up * no comment * bump * rename * not all cars yet * works but at what cost * clean up * inside settings * write param so we save the distance button changes * setChecked activates buttonToggled and already writes param! * don't need this, we update from longitudinalPlan on changes * some clean up * more * ui * allow some time for ui to receive and write param * plannerd: only track changes in case no ui * Revert "plannerd: only track changes in case no ui" This reverts commit 2b081aa6ceb92c67a621b74592b2292756d29871. * write in plannerd as well, I assume this is atomic? * don't write when setting checked (only user clicks) * better nane * more * Update selfdrive/controls/lib/longitudinal_planner.py Co-authored-by: Cameron Clough <cameronjclough@gmail.com> * doesn't write param now * ParamWatcher is nice * no debug * Update translations * fix * odd drain sock proc replay behavior * vanish * Revert "odd drain sock proc replay behavior" This reverts commit 29b70b39413e1852bb512155af6b6a94a5bd9454. * add GM * only if OP long * move personality to controlsState, since eventually it won't be exclusive to long planner more bump * diff without translations * fix * put nonblocking * CS should start at up to date personality always (no ui flicker) * update toggle on cereal message change * fix * fix that * ubmp * mypy doesn't know this is an int :( * update translations * fix the tests * revert ui * not here * migrate controlsState * Revert "migrate controlsState" - i see no reason we need to test with any specific personality This reverts commit 6063508f2df1a5623f113cda34dcd59a1f4b2ac9. * Update ref_commit --------- Co-authored-by: Cameron Clough <cameronjclough@gmail.com> old-commit-hash: 29e55f99a54d95215aa79ecf94a22363f82913a6
46 lines
1.6 KiB
Python
Executable File
46 lines
1.6 KiB
Python
Executable File
#!/usr/bin/env python3
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import unittest
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import itertools
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from parameterized import parameterized_class
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from cereal import log
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from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
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from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
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def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
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man = Maneuver(
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'',
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duration=t_end,
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initial_speed=float(v_lead),
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lead_relevancy=True,
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initial_distance_lead=100,
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speed_lead_values=[v_lead],
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breakpoints=[0.],
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e2e=e2e,
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personality=personality,
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)
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valid, output = man.evaluate()
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assert valid
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return output[-1,2] - output[-1,1]
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@parameterized_class(("e2e", "personality", "speed"), itertools.product(
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[True, False], # e2e
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[log.LongitudinalPersonality.relaxed, # personality
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log.LongitudinalPersonality.standard,
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log.LongitudinalPersonality.aggressive],
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[0,10,35])) # speed
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class TestFollowingDistance(unittest.TestCase):
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def test_following_distance(self):
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v_lead = float(self.speed)
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simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
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correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
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err_ratio = 0.2 if self.e2e else 0.1
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self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
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if __name__ == "__main__":
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unittest.main()
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