mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-06 20:43:46 +08:00
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>
64 lines
3.1 KiB
Python
64 lines
3.1 KiB
Python
|
|
from unittest.mock import patch
|
|
import math
|
|
import os
|
|
from types import SimpleNamespace
|
|
import unittest
|
|
|
|
from opendbc.car.gm.values import CAR
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.prefix import OpenpilotPrefix
|
|
from openpilot.selfdrive.controls.controlsd import Controls
|
|
from openpilot.starpilot.longitudinal.tests.test_bolt_mode_transition import params
|
|
|
|
|
|
class VehicleModelUpdated(Exception):
|
|
pass
|
|
|
|
|
|
class TestBoltVehicleModel(unittest.TestCase):
|
|
def test_actual_controls_ratio_is_scoped_and_recomputed_from_live_input(self):
|
|
identities = (CAR.CHEVROLET_BOLT_CC_2017, CAR.CHEVROLET_BOLT_CC_2018_2021,
|
|
CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023,
|
|
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_EUV)
|
|
for identity in identities:
|
|
for mode in ('starpilot', 'standard'):
|
|
if identity == CAR.CHEVROLET_BOLT_EUV and mode == 'starpilot':
|
|
continue
|
|
with self.subTest(identity=identity, mode=mode), OpenpilotPrefix(), patch.dict(os.environ, {'SIMULATION': '1'}):
|
|
cp = params(identity, alpha=True)
|
|
settings = Params()
|
|
settings.put('CarParams', cp.to_bytes(), block=True)
|
|
if mode == 'standard' and identity != CAR.CHEVROLET_BOLT_EUV:
|
|
document = {'version': 1, 'vehicles': {str(identity): {'brand': 'gm', 'mode': 'standard'}}}
|
|
settings.put('LateralControllerSelection', document, block=True)
|
|
controls = Controls()
|
|
self.assertEqual(controls.LaC.controller_mode.value, mode)
|
|
real_update = controls.VM.update_params
|
|
for index, (speed, live_ratio) in enumerate(((0., 16.8), (8., 16.8), (25., 16.8),
|
|
(25., 16.8), (5., 17.2), (35., 17.2), (0., 16.8))):
|
|
if index == 4:
|
|
controls.LaC.reset()
|
|
self.enterContext(patch.object(controls, 'sm', {'carState': SimpleNamespace(vEgo=speed),
|
|
'vehicleParameters': SimpleNamespace(stiffnessFactor=1.1, steerRatio=live_ratio)}, create=True))
|
|
observed = []
|
|
|
|
def capture(stiffness, ratio, real_update=real_update, observed=observed):
|
|
real_update(stiffness, ratio)
|
|
observed.append((stiffness, ratio))
|
|
raise VehicleModelUpdated
|
|
|
|
with patch.object(controls.VM, 'update_params', side_effect=capture):
|
|
with self.assertRaises(VehicleModelUpdated):
|
|
controls.state_control()
|
|
scale = 1.0
|
|
if mode == 'starpilot' and identity == CAR.CHEVROLET_BOLT_CC_2017:
|
|
# Literal original controlsd caller and vehicle_tunes speed law.
|
|
onset, width = 20 * .44704, 4 * .44704
|
|
scale += .045 / (1 + math.exp(-(max(speed, 0.) - onset) / width))
|
|
elif mode == 'starpilot' and identity == CAR.CHEVROLET_BOLT_CC_2018_2021:
|
|
scale = 1.01
|
|
self.assertEqual(observed[0][0], 1.1)
|
|
self.assertAlmostEqual(observed[0][1], live_ratio * scale, places=10)
|
|
self.assertEqual(len(observed), 1)
|