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eefc084302
version: sunnypilot v2025.003.000 (dev) date: 2025-12-18T05:48:43 master commit: 16c052af0835f049a67b80251d8cc1114fc08bb4
33 lines
1.2 KiB
Python
33 lines
1.2 KiB
Python
from parameterized import parameterized
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.honda.values import CAR as HONDA
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from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.car.helpers import convert_to_capnp
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
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class TestNNTorqueModel:
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@parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
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def test_load_model(self, car_name):
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params = Params()
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params.put_bool("NeuralNetworkLateralControl", True)
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CarInterface = interfaces[car_name]
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CP = CarInterface.get_non_essential_params(car_name)
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CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
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CI = CarInterface(CP, CP_SP)
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sunnypilot_interfaces.setup_interfaces(CI, params)
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CP_SP = convert_to_capnp(CP_SP)
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controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
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assert controller.extension.has_nn_model
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