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firestar5683
7f3b68f0a8
Update Toyota ADAS messages and control interfaces with platform-specific safety tests. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com>
38 lines
2.1 KiB
Python
38 lines
2.1 KiB
Python
"""Exercise magnitude-based unwind through each production torque policy."""
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from collections import deque
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from unittest.mock import patch
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import pytest
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from opendbc.car import structs
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from opendbc.car.car_helpers import interfaces
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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 opendbc.car.vehicle_model import VehicleModel
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from openpilot.cereal import log
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.starpilot.lateral.torque_extension import selected_policy
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@pytest.mark.parametrize('vehicle', [HYUNDAI.GENESIS_G70_2020, HYUNDAI.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
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TOYOTA.TOYOTA_COROLLA_TSS2, HYUNDAI.HYUNDAI_IONIQ_6])
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@pytest.mark.parametrize('previous,current,expected', [(.25, .1, True), (-.25, -.1, True),
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(.1, .25, False), (-.1, -.25, False),
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(.1, -.1, False), (-.1, .1, False),
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(.1, 0., True), (-.1, 0., True), (0., 0., False)])
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def test_actual_pid_unwind_is_mirrored_and_handles_zero_crossing(vehicle, previous, current, expected):
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cp = interfaces[vehicle].get_non_essential_params(vehicle)
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controller = LatControlTorque(cp.as_reader(), interfaces[vehicle](cp), .01)
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owner = selected_policy(controller)
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assert owner is not None
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cs = structs.CarState.new_message(vEgo=25., steeringAngleDeg=0., steeringPressed=False, gearShifter='drive')
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params = log.VehicleParameters.new_message(angleOffsetDeg=0., roll=0.)
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curvature = current / cs.vEgo ** 2
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owner.curvature_request_buffer = deque([curvature] * owner.request_buffer_len, maxlen=owner.request_buffer_len)
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owner.prev_desired_lateral_accel = previous
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with patch.object(controller.pid, 'update', wraps=controller.pid.update) as pid:
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_, _, state = controller.update(True, cs, VehicleModel(cp), params, False, curvature, False, .2)
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assert state.active
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assert owner.prev_desired_lateral_accel == pytest.approx(current)
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assert bool(pid.call_args.kwargs['freeze_integrator']) is expected
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