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https://github.com/firestar5683/StarPilot.git
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Kacper Rączy
80bc61dc6c
* Pose calibrator * Fix static analysis * Fix static * Fix test_latcontrol * Fix test_latcontrol * Update services in process replay * Fix static * Matmul not mul * Add assertion * Move pose calibration to data_sample * Update ref commit * Remove llk from cycle alerts * Deprecated nogps event * Switch power_draw to lp * Bring back noGps alert * Add handling code back * get_bool * Bring inputsok back old-commit-hash: 9734015bbb6d448bb6b0fb453370ec702fa73106
40 lines
1.5 KiB
Python
40 lines
1.5 KiB
Python
from parameterized import parameterized
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from cereal import car, log
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from openpilot.selfdrive.car.car_helpers import interfaces
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from openpilot.selfdrive.car.honda.values import CAR as HONDA
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from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
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from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
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from openpilot.selfdrive.locationd.helpers import Pose
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from openpilot.common.mock.generators import generate_livePose
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class TestLatControl:
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@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)])
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def test_saturation(self, car_name, controller):
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CarInterface, CarController, CarState = interfaces[car_name]
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CP = CarInterface.get_non_essential_params(car_name)
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CI = CarInterface(CP, CarController, CarState)
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VM = VehicleModel(CP)
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controller = controller(CP.as_reader(), CI)
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CS = car.CarState.new_message()
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CS.vEgo = 30
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CS.steeringPressed = False
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params = log.LiveParametersData.new_message()
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lp = generate_livePose()
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pose = Pose.from_live_pose(lp.livePose)
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose)
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assert lac_log.saturated
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