mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-15 00:43:46 +08:00
firestar5683
62 lines
2.9 KiB
Python
62 lines
2.9 KiB
Python
"""Fixed shared ceiling and the actual final longitudinal controller boundary."""
|
|
|
|
from pathlib import Path
|
|
import os
|
|
import tempfile
|
|
import unittest
|
|
from unittest.mock import patch
|
|
|
|
from openpilot.common.params import Params
|
|
from openpilot.starpilot.longitudinal.output_max import KEY, final_output
|
|
from openpilot.starpilot.longitudinal.tests.test_gm_volt_long_policy import controls_fixture
|
|
|
|
|
|
class OutputMaximumTests(unittest.TestCase):
|
|
def setUp(self):
|
|
temporary = tempfile.TemporaryDirectory()
|
|
self.addCleanup(temporary.cleanup)
|
|
self.params = Params(temporary.name)
|
|
self.path = Path(self.params.get_param_path(KEY))
|
|
|
|
def test_fixed_four_ignores_saved_values_without_rewriting_them(self):
|
|
for raw in (b'0.1', b'1.5', b'4.0', b'broken', b'nan', b'1' * 129):
|
|
with self.subTest(raw=raw):
|
|
self.path.write_bytes(raw)
|
|
self.assertEqual(final_output(5.0), 4.0)
|
|
self.assertEqual(final_output(2.0), 2.0)
|
|
self.assertEqual(final_output(-2.0), -2.0)
|
|
self.assertEqual(self.path.read_bytes(), raw)
|
|
self.path.unlink()
|
|
self.assertEqual(final_output(5.0), 4.0)
|
|
|
|
def test_actual_controls_clamps_after_pid_preserving_history_braking_and_inactive(self):
|
|
controls, now, offset = controls_fixture()
|
|
reference, _, _ = controls_fixture()
|
|
self.path.write_bytes(b"0.25")
|
|
for owner in (controls, reference):
|
|
owner.sm['longitudinalPlan'].aTarget = .5
|
|
owner.LoC.pid.i = .8
|
|
with patch.dict(os.environ, {'REPLAY': '0'}), \
|
|
patch('openpilot.starpilot.longitudinal.inputs.clock_pair_ns', return_value=(now, now + offset)), \
|
|
patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=now):
|
|
actual, _ = controls.state_control()
|
|
original, _ = reference.state_control()
|
|
self.assertGreater(original.actuators.accel, .25)
|
|
self.assertEqual(actual.actuators.accel, original.actuators.accel)
|
|
self.assertEqual(controls.CI.get_pid_accel_limits(controls.CP, 12.0, 0.0), (-4.0, 2.0))
|
|
self.assertLessEqual(actual.actuators.accel, 2.0)
|
|
self.assertEqual(controls.LoC.last_output_accel, reference.LoC.last_output_accel)
|
|
self.assertEqual((controls.LoC.pid.p, controls.LoC.pid.i, controls.LoC.pid.f),
|
|
(reference.LoC.pid.p, reference.LoC.pid.i, reference.LoC.pid.f))
|
|
for owner in (controls, reference):
|
|
owner.sm['longitudinalPlan'].aTarget = -1.0
|
|
owner.LoC.pid.i = 0.0
|
|
actual, _ = controls.state_control()
|
|
original, _ = reference.state_control()
|
|
self.assertLess(actual.actuators.accel, 0)
|
|
self.assertEqual(actual.actuators.accel, original.actuators.accel)
|
|
self.assertEqual(controls.LoC.last_output_accel, reference.LoC.last_output_accel)
|
|
controls.sm['selfdriveState'].enabled = False
|
|
actual, _ = controls.state_control()
|
|
self.assertEqual((actual.actuators.accel, controls.LoC.last_output_accel), (0., 0.))
|