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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
68 lines
3.2 KiB
Python
68 lines
3.2 KiB
Python
"""The selected Ray policy gains reach actual LongControl and pedal CAN output."""
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import pytest
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from opendbc.can import CANParser
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from opendbc.car.hyundai.interface import CarInterface
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from opendbc.car.hyundai.ray_pedal import RAY_PEDAL_COMMAND_CAP, longitudinal_policy_for, ray_pedal_enabled
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from opendbc.car.hyundai.tests import test_ray_pedal as fixtures
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from opendbc.car.hyundai.values import CAR, RAY_PEDAL_SAFETY_PARAM
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from openpilot.selfdrive.controls.lib.longcontrol import LongControl
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@pytest.mark.parametrize('speed, kp, ki', [(0.0, 0.095, 0.07), (5.0, 0.085, 0.13333333333333333), (15.0, 0.065, 0.17793103448275863), (35.0, 0.05, 0.24)])
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def test_factory_selected_pid_is_consumed_and_actual_pedal_stays_bounded(speed, kp, ki):
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cp, controller, cc, cs = fixtures.ray_controller()
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assert ray_pedal_enabled(cp)
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assert cp.safetyConfigs[-1].safetyParam == RAY_PEDAL_SAFETY_PARAM == 0x9805
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assert list(cp.longitudinalTuning.kiBP) == [0.0, 3.0, 6.0, 35.0]
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assert list(cp.longitudinalTuning.kiV) == pytest.approx([0.07, 0.10, 0.15, 0.24])
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cs.out.vEgo = speed
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cs.out.aEgo = 0.0
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cs.out.canValid = True
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long_control = LongControl(cp)
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assert long_control.extension is not None
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assert long_control.extension.kp == ((0.0, 5.0, 15.0, 35.0), (0.095, 0.085, 0.065, 0.05))
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limits = CarInterface.get_pid_accel_limits(cp, speed, 20.0)
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requested = long_control.update(True, cs.out, 0.3, False, limits)
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assert long_control.pid.k_p == pytest.approx(kp)
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assert long_control.pid.k_i == pytest.approx(ki)
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assert long_control.pid.p == pytest.approx(kp * 0.3)
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assert long_control.pid.f == pytest.approx(0.3)
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assert limits[0] <= requested <= limits[1]
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cc.actuators.accel = float(requested)
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cc.hudControl.setSpeed = min(speed + 2.0, 40.0)
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controller.frame = 4
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output, messages = controller.update(cc.as_reader(), cs, 1_000_000_000)
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pedal = [m for m in messages if m[0] == 0x200]
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assert len(pedal) == 1
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parser = CANParser('hyundai_kia_ray_pedal', [('GAS_COMMAND', 0)], 0)
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parser.update([(1_000_000_000, pedal)])
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assert parser.vl['GAS_COMMAND']['ENABLE'] in (0, 1)
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assert 0.0 <= controller._ray_pedal_gas_last <= RAY_PEDAL_COMMAND_CAP
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assert cp.safetyConfigs[-1].safetyParam == 0x9805
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assert output.accel == pytest.approx(requested)
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cc.longActive = False
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controller.frame = 8
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_, messages = controller.update(cc.as_reader(), cs, 1_010_000_000)
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parser.update([(1_010_000_000, [m for m in messages if m[0] == 0x200])])
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assert parser.vl['GAS_COMMAND']['ENABLE'] == 0
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assert controller._ray_pedal_gas_last == 0.0
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@pytest.mark.parametrize('sensor, lfa', [(8, 8), (6, 4)])
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def test_missing_physical_ray_layout_does_not_select_pid_owner(sensor, lfa):
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cp = CarInterface.get_params(CAR.KIA_RAY_EV, fixtures.ray_fingerprint(sensor=sensor, lfa=lfa), [], False, False, False)
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assert not ray_pedal_enabled(cp)
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assert longitudinal_policy_for(cp) is None
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assert not cp.openpilotLongitudinalControl
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assert cp.pcmCruise
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@pytest.mark.parametrize('field', ['passive', 'dashcamOnly', 'notCar'])
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def test_startup_denial_never_selects_ray_owner(field):
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cp, _, _, _ = fixtures.ray_controller()
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setattr(cp, field, True)
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assert not ray_pedal_enabled(cp)
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assert longitudinal_policy_for(cp) is None
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