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https://github.com/firestar5683/StarPilot.git
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firestar5683
322 lines
17 KiB
Python
322 lines
17 KiB
Python
from parameterized import parameterized
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from types import SimpleNamespace
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from cereal import car, custom, log
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import openpilot.selfdrive.controls.lib.latcontrol_torque as latcontrol_torque
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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.toyota.values import CAR as TOYOTA
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from opendbc.car.nissan.values import CAR as NISSAN
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from opendbc.car.gm.values import CAR as GM
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from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.vehicle_model import VehicleModel
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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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 (
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LatControlTorque,
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get_bolt_2017_center_taper_scale,
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get_friction_threshold,
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get_bolt_2017_base_torque_scale,
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get_bolt_2017_steer_ratio_scale,
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get_bolt_2017_torque_scale,
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get_bolt_2022_2023_ff_scale,
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get_bolt_2022_2023_friction_scale,
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get_bolt_2022_2023_friction_threshold,
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get_bolt_2018_2021_dynamic_torque_scale,
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get_bolt_2018_2021_friction_scale,
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get_bolt_2018_2021_friction_threshold,
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get_bolt_2018_2021_torque_scale,
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get_genesis_g90_ff_scale,
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get_genesis_g90_friction_scale,
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get_genesis_g90_friction_threshold,
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get_kia_ev6_ff_scale,
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get_kia_ev6_friction_scale,
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get_kia_ev6_friction_threshold,
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get_volt_standard_ff_scale,
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get_volt_standard_friction_scale,
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get_volt_standard_friction_threshold,
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get_volt_plexy_ff_scale,
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get_volt_plexy_friction_scale,
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get_volt_plexy_friction_threshold,
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)
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class TestLatControl:
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@staticmethod
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def _build_torque_controller(car_name):
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CarInterface = interfaces[car_name]
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CP = CarInterface.get_non_essential_params(car_name)
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CI = CarInterface(CP, custom.StarPilotCarParams.new_message())
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controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
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VM = VehicleModel(CP)
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CS = car.CarState.new_message()
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CS.vEgo = 22
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CS.steeringPressed = False
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CS.steeringAngleDeg = 1.0
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params = log.LiveParametersData.new_message()
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params.steerRatio = CP.steerRatio
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params.stiffnessFactor = 1.0
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params.roll = 0.0
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params.angleOffsetDeg = 0.0
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starpilot_toggles = SimpleNamespace()
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return controller, VM, CS, params, starpilot_toggles
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def test_bolt_2017_testing_ground_scale_curve(self):
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assert get_bolt_2017_base_torque_scale(0.1) == 1.0
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assert get_bolt_2017_base_torque_scale(-0.1) == 1.0
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assert get_bolt_2017_base_torque_scale(0.5) > get_bolt_2017_base_torque_scale(-0.5)
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assert 1.0 < get_bolt_2017_base_torque_scale(1.2) < get_bolt_2017_base_torque_scale(0.5)
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assert get_bolt_2017_base_torque_scale(-2.5) < 1.0
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assert 1.0 < get_bolt_2017_steer_ratio_scale(10.0 * 0.44704) < get_bolt_2017_steer_ratio_scale(20.0 * 0.44704) < get_bolt_2017_steer_ratio_scale(30.0 * 0.44704)
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assert get_bolt_2017_steer_ratio_scale(5.0 * 0.44704) < 1.01
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assert get_bolt_2017_steer_ratio_scale(35.0 * 0.44704) > 1.04
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assert get_bolt_2017_center_taper_scale(0.0, 30.0 * 0.44704) < get_bolt_2017_center_taper_scale(0.10, 30.0 * 0.44704) < get_bolt_2017_center_taper_scale(0.20, 30.0 * 0.44704) <= 1.0
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assert get_bolt_2017_center_taper_scale(0.0, 30.0 * 0.44704) < get_bolt_2017_center_taper_scale(0.0, 10.0 * 0.44704)
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assert get_bolt_2017_torque_scale(0.0, 0.0, 30.0 * 0.44704) < 1.0
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assert get_bolt_2017_torque_scale(0.6, 0.6, 8.0) > get_bolt_2017_torque_scale(0.6, 0.0, 8.0) > get_bolt_2017_torque_scale(0.6, -0.6, 8.0)
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assert get_bolt_2017_torque_scale(-0.6, -0.6, 8.0) > get_bolt_2017_torque_scale(-0.6, 0.0, 8.0) > get_bolt_2017_torque_scale(-0.6, 0.6, 8.0)
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assert get_bolt_2017_torque_scale(0.6, 0.6, 8.0) > get_bolt_2017_torque_scale(-0.6, -0.6, 8.0)
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def test_bolt_2018_2021_testing_ground_scale_curve(self):
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assert get_bolt_2018_2021_torque_scale(0.0) == 1.0
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assert get_bolt_2018_2021_torque_scale(0.2) > get_bolt_2018_2021_torque_scale(0.08)
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assert get_bolt_2018_2021_torque_scale(0.4) > get_bolt_2018_2021_torque_scale(-0.4)
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assert get_bolt_2018_2021_torque_scale(2.0) < get_bolt_2018_2021_torque_scale(0.8)
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assert get_bolt_2018_2021_dynamic_torque_scale(0.08, 0.0, 25.0) < get_bolt_2018_2021_dynamic_torque_scale(0.08, 0.0, 8.0)
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assert get_bolt_2018_2021_dynamic_torque_scale(0.4, 0.8, 20.0) < get_bolt_2018_2021_dynamic_torque_scale(0.4, 0.1, 20.0)
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assert get_bolt_2018_2021_dynamic_torque_scale(0.6, -0.6, 8.0) < get_bolt_2018_2021_dynamic_torque_scale(0.6, 0.6, 8.0)
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assert get_bolt_2018_2021_dynamic_torque_scale(-0.6, 0.6, 8.0) < get_bolt_2018_2021_dynamic_torque_scale(-0.6, -0.6, 8.0)
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def test_bolt_2018_2021_friction_threshold_curve(self):
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base = get_friction_threshold(6.0)
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left_turn_in = get_bolt_2018_2021_friction_threshold(6.0, 0.7, 0.8)
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right_turn_in = get_bolt_2018_2021_friction_threshold(6.0, -0.7, -0.8)
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left_unwind = get_bolt_2018_2021_friction_threshold(6.0, 0.7, -0.8)
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right_unwind = get_bolt_2018_2021_friction_threshold(6.0, -0.7, 0.8)
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assert left_turn_in <= right_turn_in < base < left_unwind < right_unwind
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assert get_bolt_2018_2021_friction_threshold(25.0, 0.7, 0.8) > left_turn_in
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def test_bolt_2018_2021_friction_scale_curve(self):
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base = get_bolt_2018_2021_friction_scale(25.0, 0.7, 0.8)
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center_base = get_bolt_2018_2021_friction_scale(25.0, 0.0, 0.0)
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left_turn_in = get_bolt_2018_2021_friction_scale(6.0, 0.7, 0.8)
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right_turn_in = get_bolt_2018_2021_friction_scale(6.0, -0.7, -0.8)
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left_unwind = get_bolt_2018_2021_friction_scale(6.0, 0.7, -0.8)
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right_unwind = get_bolt_2018_2021_friction_scale(6.0, -0.7, 0.8)
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assert center_base < 1.02
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assert left_turn_in >= right_turn_in > base
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assert base > left_unwind > right_unwind
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def test_bolt_2022_2023_ff_scale_curve(self):
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assert get_bolt_2022_2023_ff_scale(0.0, 0.0, 20.0) == 1.0
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assert get_bolt_2022_2023_ff_scale(0.5, 0.0, 20.0) > get_bolt_2022_2023_ff_scale(-0.5, 0.0, 20.0)
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assert get_bolt_2022_2023_ff_scale(0.6, 0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0)
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assert get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, 0.0, 8.0)
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assert get_bolt_2022_2023_ff_scale(0.6, -0.7, 8.0) < get_bolt_2022_2023_ff_scale(0.6, 0.0, 8.0)
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assert get_bolt_2022_2023_ff_scale(0.6, -0.7, 6.0) < get_bolt_2022_2023_ff_scale(0.6, -0.7, 20.0)
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def test_bolt_2022_2023_friction_threshold_curve(self):
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base = get_friction_threshold(6.0)
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left_turn_in = get_bolt_2022_2023_friction_threshold(6.0, 0.7, 0.8)
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right_turn_in = get_bolt_2022_2023_friction_threshold(6.0, -0.7, -0.8)
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left_unwind = get_bolt_2022_2023_friction_threshold(6.0, 0.7, -0.8)
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right_unwind = get_bolt_2022_2023_friction_threshold(6.0, -0.7, 0.8)
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assert left_turn_in < right_turn_in < base < right_unwind < left_unwind
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def test_bolt_2022_2023_friction_scale_curve(self):
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base = get_bolt_2022_2023_friction_scale(25.0, 0.7, 0.8)
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left_turn_in = get_bolt_2022_2023_friction_scale(6.0, 0.7, 0.8)
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right_turn_in = get_bolt_2022_2023_friction_scale(6.0, -0.7, -0.8)
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left_unwind = get_bolt_2022_2023_friction_scale(6.0, 0.7, -0.8)
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right_unwind = get_bolt_2022_2023_friction_scale(6.0, -0.7, 0.8)
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assert left_turn_in > right_turn_in > base
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assert base > right_unwind > left_unwind
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def test_volt_plexy_ff_scale_curve(self):
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assert get_volt_plexy_ff_scale(0.0, 0.0, 20.0) == 1.0
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assert get_volt_plexy_ff_scale(0.5, 0.0, 20.0) > get_volt_plexy_ff_scale(-0.5, 0.0, 20.0)
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assert get_volt_plexy_ff_scale(0.6, 0.7, 8.0) > get_volt_plexy_ff_scale(0.6, 0.0, 8.0) > get_volt_plexy_ff_scale(0.6, -0.7, 8.0)
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assert get_volt_plexy_ff_scale(-0.6, -0.7, 8.0) > get_volt_plexy_ff_scale(-0.6, 0.0, 8.0) > get_volt_plexy_ff_scale(-0.6, 0.7, 8.0)
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assert get_volt_plexy_ff_scale(2.0, 0.0, 20.0) < get_volt_plexy_ff_scale(0.8, 0.0, 20.0)
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def test_volt_standard_ff_scale_curve(self):
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assert get_volt_standard_ff_scale(0.0, 0.0, 20.0) == 1.0
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assert get_volt_standard_ff_scale(-0.5, 0.0, 20.0) > get_volt_standard_ff_scale(0.5, 0.0, 20.0)
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assert get_volt_standard_ff_scale(0.6, 0.7, 8.0) < get_volt_standard_ff_scale(0.6, 0.0, 8.0)
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assert get_volt_standard_ff_scale(-0.6, -0.7, 8.0) > get_volt_standard_ff_scale(-0.6, 0.0, 8.0)
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assert get_volt_standard_ff_scale(2.0, 0.0, 20.0) < get_volt_standard_ff_scale(0.8, 0.0, 20.0)
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def test_volt_standard_friction_threshold_curve(self):
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base = get_friction_threshold(6.0)
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left_turn_in = get_volt_standard_friction_threshold(6.0, 0.7, 0.8)
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right_turn_in = get_volt_standard_friction_threshold(6.0, -0.7, -0.8)
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left_unwind = get_volt_standard_friction_threshold(6.0, 0.7, -0.8)
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right_unwind = get_volt_standard_friction_threshold(6.0, -0.7, 0.8)
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assert left_turn_in > base > right_turn_in
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assert left_unwind < base < right_unwind
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def test_volt_standard_friction_scale_curve(self):
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base = get_volt_standard_friction_scale(25.0, 0.7, 0.8)
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left_turn_in = get_volt_standard_friction_scale(6.0, 0.7, 0.8)
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right_turn_in = get_volt_standard_friction_scale(6.0, -0.7, -0.8)
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left_unwind = get_volt_standard_friction_scale(6.0, 0.7, -0.8)
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right_unwind = get_volt_standard_friction_scale(6.0, -0.7, 0.8)
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assert left_turn_in < base < right_turn_in
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assert left_unwind > base > right_unwind
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def test_genesis_g90_ff_scale_curve(self):
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assert get_genesis_g90_ff_scale(0.0, 0.0, 20.0) == 1.0
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assert get_genesis_g90_ff_scale(0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(-0.5, 0.0, 20.0)
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assert get_genesis_g90_ff_scale(0.6, 0.7, 8.0) > get_genesis_g90_ff_scale(0.6, 0.0, 8.0) > get_genesis_g90_ff_scale(0.6, -0.7, 8.0)
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assert get_genesis_g90_ff_scale(-0.6, -0.7, 8.0) > get_genesis_g90_ff_scale(-0.6, 0.0, 8.0) > get_genesis_g90_ff_scale(-0.6, 0.7, 8.0)
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assert get_genesis_g90_ff_scale(2.0, 0.0, 20.0) < get_genesis_g90_ff_scale(0.8, 0.0, 20.0)
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def test_genesis_g90_friction_threshold_curve(self):
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base = get_friction_threshold(6.0)
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left_turn_in = get_genesis_g90_friction_threshold(6.0, 0.7, 0.8)
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right_turn_in = get_genesis_g90_friction_threshold(6.0, -0.7, -0.8)
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left_unwind = get_genesis_g90_friction_threshold(6.0, 0.7, -0.8)
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right_unwind = get_genesis_g90_friction_threshold(6.0, -0.7, 0.8)
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assert left_turn_in < base
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assert right_turn_in < left_turn_in
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assert left_unwind > base
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assert right_unwind > left_unwind
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def test_genesis_g90_friction_scale_curve(self):
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base = get_genesis_g90_friction_scale(25.0, 0.7, 0.8)
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left_turn_in = get_genesis_g90_friction_scale(6.0, 0.7, 0.8)
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right_turn_in = get_genesis_g90_friction_scale(6.0, -0.7, -0.8)
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left_unwind = get_genesis_g90_friction_scale(6.0, 0.7, -0.8)
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right_unwind = get_genesis_g90_friction_scale(6.0, -0.7, 0.8)
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assert right_turn_in > left_turn_in > base
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assert base > left_unwind > right_unwind
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def test_kia_ev6_ff_scale_curve(self):
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assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0
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assert get_kia_ev6_ff_scale(-0.3, 0.0, 20.0) > get_kia_ev6_ff_scale(0.3, 0.0, 20.0)
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assert get_kia_ev6_ff_scale(-0.4, -0.7, 8.0) > get_kia_ev6_ff_scale(-0.4, 0.0, 8.0) > get_kia_ev6_ff_scale(-0.4, 0.7, 8.0)
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assert get_kia_ev6_ff_scale(0.4, 0.7, 8.0) > get_kia_ev6_ff_scale(0.4, 0.0, 8.0) > get_kia_ev6_ff_scale(0.4, -0.7, 8.0)
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assert get_kia_ev6_ff_scale(1.2, 0.0, 20.0) < get_kia_ev6_ff_scale(0.4, 0.0, 20.0)
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def test_kia_ev6_friction_threshold_curve(self):
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base = get_friction_threshold(6.0)
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left_turn_in = get_kia_ev6_friction_threshold(6.0, 0.5, 0.8)
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right_turn_in = get_kia_ev6_friction_threshold(6.0, -0.5, -0.8)
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left_unwind = get_kia_ev6_friction_threshold(6.0, 0.5, -0.8)
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right_unwind = get_kia_ev6_friction_threshold(6.0, -0.5, 0.8)
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assert right_turn_in < left_turn_in < base < left_unwind < right_unwind
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def test_kia_ev6_friction_scale_curve(self):
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base = get_kia_ev6_friction_scale(25.0, 0.5, 0.8)
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left_turn_in = get_kia_ev6_friction_scale(6.0, 0.5, 0.8)
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right_turn_in = get_kia_ev6_friction_scale(6.0, -0.5, -0.8)
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left_unwind = get_kia_ev6_friction_scale(6.0, 0.5, -0.8)
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right_unwind = get_kia_ev6_friction_scale(6.0, -0.5, 0.8)
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assert right_turn_in > left_turn_in > base
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assert base > left_unwind >= right_unwind
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def test_volt_plexy_friction_threshold_curve(self):
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base = get_friction_threshold(6.0)
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left_turn_in = get_volt_plexy_friction_threshold(6.0, 0.7, 0.8)
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right_turn_in = get_volt_plexy_friction_threshold(6.0, -0.7, -0.8)
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left_unwind = get_volt_plexy_friction_threshold(6.0, 0.7, -0.8)
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right_unwind = get_volt_plexy_friction_threshold(6.0, -0.7, 0.8)
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assert left_turn_in < right_turn_in < base < left_unwind < right_unwind
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def test_volt_plexy_friction_scale_curve(self):
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base = get_volt_plexy_friction_scale(25.0, 0.7, 0.8)
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left_turn_in = get_volt_plexy_friction_scale(6.0, 0.7, 0.8)
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right_turn_in = get_volt_plexy_friction_scale(6.0, -0.7, -0.8)
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left_unwind = get_volt_plexy_friction_scale(6.0, 0.7, -0.8)
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right_unwind = get_volt_plexy_friction_scale(6.0, -0.7, 0.8)
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assert left_turn_in > right_turn_in > base
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assert base > left_unwind > right_unwind
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def test_bolt_2017_default_update_path(self):
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controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_BOLT_CC_2017)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
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assert lac_log.active
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def test_bolt_2018_2021_default_update_path(self):
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controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_BOLT_CC_2018_2021)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
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assert lac_log.active
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def test_bolt_2022_2023_default_update_path(self):
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controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_BOLT_ACC_2022_2023)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
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assert lac_log.active
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def test_volt_standard_testing_ground_update_path(self, monkeypatch):
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controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_VOLT_ASCM)
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monkeypatch.setattr(latcontrol_torque, "volt_standard_lateral_testing_ground_active", lambda: True)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
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assert lac_log.active
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def test_genesis_g90_testing_ground_update_path(self, monkeypatch):
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controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.GENESIS_G90)
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monkeypatch.setattr(latcontrol_torque, "genesis_g90_lateral_testing_ground_active", lambda: True)
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|
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
|
|
|
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assert lac_log.active
|
|
|
|
def test_kia_ev6_testing_ground_update_path(self, monkeypatch):
|
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controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.KIA_EV6)
|
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monkeypatch.setattr(latcontrol_torque, "kia_ev6_lateral_testing_ground_active", lambda: True)
|
|
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
|
|
|
|
assert lac_log.active
|
|
|
|
def test_volt_plexy_testing_ground_update_path(self, monkeypatch):
|
|
controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_VOLT_CC)
|
|
monkeypatch.setattr(latcontrol_torque, "volt_plexy_lateral_testing_ground_active", lambda: True)
|
|
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
|
|
|
|
assert lac_log.active
|
|
|
|
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
|
|
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_ACC_2022_2023, LatControlTorque)])
|
|
def test_saturation(self, car_name, controller):
|
|
CarInterface = interfaces[car_name]
|
|
CP = CarInterface.get_non_essential_params(car_name)
|
|
CI = CarInterface(CP, custom.StarPilotCarParams.new_message())
|
|
VM = VehicleModel(CP)
|
|
|
|
controller = controller(CP.as_reader(), CI, DT_CTRL)
|
|
|
|
CS = car.CarState.new_message()
|
|
CS.vEgo = 30
|
|
CS.steeringPressed = False
|
|
|
|
params = log.LiveParametersData.new_message()
|
|
starpilot_toggles = SimpleNamespace()
|
|
|
|
# Saturate for curvature limited and controller limited
|
|
for _ in range(1000):
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 0, True, 0.2, None, None, starpilot_toggles)
|
|
assert lac_log.saturated
|
|
|
|
for _ in range(1000):
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 0, False, 0.2, None, None, starpilot_toggles)
|
|
assert not lac_log.saturated
|
|
|
|
for _ in range(1000):
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 1, False, 0.2, None, None, starpilot_toggles)
|
|
assert lac_log.saturated
|