Cover HKG torque steering independence from Alpha Long

opendbc_repo/opendbc/car/hyundai/tests/test_alpha_lateral_controller.py

@@ -0,0 +1,92 @@
+import pytest
+
+from opendbc.car import gen_empty_fingerprint, structs
+from opendbc.car.hyundai.carcontroller import CarController
+from opendbc.car.hyundai.carstate import CarState
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.values import CAR, DBC, HyundaiFlags, HyundaiSafetyFlags
+from openpilot.starpilot.lateral.controller_selection import default_selection
+
+CARS = tuple(car for car in CAR if car.config.flags & HyundaiFlags.CANFD
+             and not car.config.flags & HyundaiFlags.CANFD_ANGLE_STEERING)
+
+
+@pytest.mark.parametrize('car,topology,aol',
+                         [(car, topology, aol) for car in CARS
+                          for topology in ('lfa', 'lkas', 'lkas_alt') for aol in (False, True)
+                          if not (aol and car == CAR.KIA_EV6 and topology != 'lkas')])
+def test_full_controller_steering_is_independent_of_longitudinal(car, topology, aol):
+  fingerprint = gen_empty_fingerprint()
+  if topology != 'lfa':
+    fingerprint[2].update({0x110: 32, 0x362: 32} if topology == 'lkas_alt' else {0x50: 16, 0x2A4: 24})
+  bus = 1 if topology != 'lfa' else 0
+  fingerprint[bus].update({0x1CF: 8, 0x35: 32, 0x130: 16, 0x175: 24, 0xA0: 24, 0xEA: 24})
+  fw = structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.adas)
+  stock = CarInterface.get_params(car, fingerprint, [fw], False, False, False)
+  long = stock.as_reader().as_builder()
+  long.openpilotLongitudinalControl = True
+  long.pcmCruise = False
+  long.safetyConfigs[-1].safetyParam |= int(HyundaiSafetyFlags.LONG)
+  if aol:
+    for cp in (stock, long):
+      cp.safetyConfigs[-1].safetyParam |= 0x800
+      cp.alternativeExperience = 32 if cp.openpilotLongitudinalControl else 0
+  assert stock.lateralTuning.to_dict() == long.lateralTuning.to_dict()
+  assert default_selection(stock) == default_selection(long)
+  controllers = [CarController(DBC[car], cp) for cp in (stock, long)]
+  states = []
+  for cp in (stock, long):
+    state = CarState(cp)
+    state.out = structs.CarState(vEgo=2.0, vEgoRaw=2.0, canValid=True,
+                                gearShifter=structs.CarState.GearShifter.drive)
+    state.out.cruiseState.available = True
+    state.lfa_block_msg = {**{f'BYTE{i}': 0 for i in range(3, 32)}, 'COUNTER': 0}
+    state.is_metric = True
+    states.append(state)
+  address = {'lfa': 0x12A, 'lkas': 0x50, 'lkas_alt': 0x110}[topology]
+  for frame in range(300):
+    cc = structs.CarControl(enabled=not aol or frame < 150, latActive=True)
+    cc.actuators.torque = (0.6 if frame % 80 < 40 else -0.6)
+    cc.actuators.accel = -0.4 if frame % 50 < 25 else 0.5
+    cc.hudControl.setSpeed = 20.0
+    results = []
+    for cp, controller, state in zip((stock, long), controllers, states, strict=True):
+      state.out.vEgo = state.out.vEgoRaw = (2.0, 14.9, 15.0, 30.0)[frame // 75]
+      state.out.steeringTorque = 0.0 if frame < 200 else 300.0
+      state.out.steeringAngleDeg = 100.0 if frame < 120 else 0.0
+      cc.longActive = cp.openpilotLongitudinalControl
+      output, packets = controller.update(cc.as_reader(), state, 1_000_000_000 + frame * 10_000_000)
+      steering = [packet for packet in packets if packet[0] == address]
+      assert len(steering) == 1
+      results.append((output.torqueOutputCan, steering))
+    assert results[0] == results[1], (car, topology, frame, results)
+
+
+@pytest.mark.parametrize('car', (CAR.KIA_EV6, CAR.HYUNDAI_IONIQ_5, CAR.KIA_NIRO_EV_2ND_GEN))
+@pytest.mark.parametrize('mode', ('standard', 'starpilot'))
+def test_selected_torque_law_is_independent_of_longitudinal(car, mode):
+  from opendbc.car.vehicle_model import VehicleModel
+  from openpilot.cereal import log
+  from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+  from openpilot.starpilot.lateral.controller_selection import ControllerMode
+
+  stock = CarInterface.get_non_essential_params(car)
+  long = stock.as_reader().as_builder()
+  long.openpilotLongitudinalControl = True
+  long.pcmCruise = False
+  long.safetyConfigs[-1].safetyParam |= int(HyundaiSafetyFlags.LONG)
+  controllers = [LatControlTorque(cp.as_reader(), CarInterface(cp), .01, controller_mode=ControllerMode(mode))
+                 for cp in (stock, long)]
+  params = log.VehicleParameters.new_message(angleOffsetDeg=0.0, roll=0.0)
+  state = structs.CarState(steeringAngleDeg=0.0, steeringPressed=False)
+  for speed in (.3, 2.0, 5.0, 15.0, 30.0):
+    state.vEgo = state.vEgoRaw = speed
+    for frame in range(100):
+      active = frame > 5
+      state.steeringAngleDeg = 0.2 if frame % 40 < 20 else -0.2
+      state.steeringPressed = frame > 80
+      curvature = .0003 if frame % 50 < 25 else -.0003
+      results = [controller.update(active, state, VehicleModel(cp), params, False, curvature, False, .28)
+                 for cp, controller in zip((stock, long), controllers, strict=True)]
+      assert results[0][:2] == results[1][:2]
+      assert results[0][2].to_dict() == results[1][2].to_dict()

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "fe92c8863b74801242086a6677c5fd6a0015dd3001a6e5167fc196a80d9af41a", "schema_version": 1}
+{"protected_inventory_sha256": "7e04c39cc6eeb701bcb6e4576c5c2fac36c764ebe3326e30bf84a23a431c0e57", "schema_version": 1}