mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-07 04:53:47 +08:00
Daniel Koepping
51 lines
2.1 KiB
Python
51 lines
2.1 KiB
Python
from openpilot.common.test import OpenpilotTestCase
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from openpilot.common.parameterized import parameterized
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from openpilot.cereal import log
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from opendbc.car.structs import car
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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.volkswagen.values import CAR as VOLKSWAGEN
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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_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.latcontrol_curvature import LatControlCurvature
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class TestLatControl(OpenpilotTestCase):
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@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
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(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque),
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(VOLKSWAGEN.VOLKSWAGEN_ID4_MK2, LatControlCurvature)])
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def test_saturation(self, car_name, controller):
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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)
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VM = VehicleModel(CP)
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controller = controller(CP.as_reader(), CI, DT_CTRL)
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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.VehicleParameters.new_message()
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# Saturate for curvature limited and controller limited
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, True, 0.2)
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assert lac_log.saturated
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, False, 0.2)
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assert not lac_log.saturated
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 1, False, 0.2)
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assert lac_log.saturated
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