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https://github.com/firestar5683/StarPilot.git
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firestar5683
104 lines
3.7 KiB
Python
104 lines
3.7 KiB
Python
from types import SimpleNamespace
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import cereal.messaging as messaging
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from cereal import log
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.test.process_replay import replay_process_with_name
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from openpilot.selfdrive.controls.radard import (
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g90_low_speed_radar_lead_sane,
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g90_radar_lead_lateral_sane,
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match_vision_to_track,
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)
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class TestLeads:
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@staticmethod
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def make_track(d_rel: float, y_rel: float, v_rel: float, cnt: int = 5):
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return SimpleNamespace(dRel=d_rel, yRel=y_rel, vRel=v_rel, cnt=cnt)
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@staticmethod
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def make_lead(x: float, y: float, v: float, x_std: float = 1.5, y_std: float = 0.3, v_std: float = 1.0):
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return SimpleNamespace(x=[x], y=[y], v=[v], xStd=[x_std], yStd=[y_std], vStd=[v_std])
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@staticmethod
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def make_model_data():
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model = log.ModelDataV2.new_message()
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model.init('laneLines', 4)
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model.meta.laneChangeState = 0
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model.meta.laneChangeDirection = 0
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return model
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def test_g90_radar_filters_side_tracks(self):
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side_track = SimpleNamespace(dRel=13.0, yRel=-10.38, cnt=10)
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centered_track = SimpleNamespace(dRel=10.8, yRel=-0.21, cnt=5)
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close_side_ghost = SimpleNamespace(dRel=2.2, yRel=2.41, cnt=10)
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close_centered_track = SimpleNamespace(dRel=2.2, yRel=1.2, cnt=10)
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far_low_speed_track = SimpleNamespace(dRel=15.5, yRel=0.58, cnt=5)
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assert not g90_radar_lead_lateral_sane(side_track)
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assert g90_radar_lead_lateral_sane(centered_track)
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assert not g90_radar_lead_lateral_sane(close_side_ghost)
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assert g90_radar_lead_lateral_sane(close_centered_track)
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assert g90_low_speed_radar_lead_sane(centered_track, 2.0)
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assert not g90_low_speed_radar_lead_sane(far_low_speed_track, 3.5)
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def test_match_vision_to_track_sticky_holds_preferred_track(self):
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v_ego = 21.2
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lead = self.make_lead(x=37.72, y=0.07, v=20.03)
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preferred_track = self.make_track(d_rel=46.95, y_rel=0.05, v_rel=-0.58, cnt=8)
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tracks = {3647: preferred_track}
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track = match_vision_to_track(
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v_ego,
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lead,
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self.make_model_data(),
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tracks,
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SimpleNamespace(human_lane_changes=False),
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preferred_track_id=3647,
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)
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assert track is preferred_track
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def test_match_vision_to_track_sticky_rejects_bad_preferred_track(self):
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v_ego = 21.2
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lead = self.make_lead(x=37.72, y=0.07, v=20.03)
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preferred_track = self.make_track(d_rel=58.0, y_rel=2.8, v_rel=-4.5, cnt=8)
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tracks = {3647: preferred_track}
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track = match_vision_to_track(
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v_ego,
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lead,
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self.make_model_data(),
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tracks,
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SimpleNamespace(human_lane_changes=False),
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preferred_track_id=3647,
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)
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assert track is None
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def test_radar_fault(self):
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# if there's no radar-related can traffic, radard should either not respond or respond with an error
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# this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check
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def single_iter_pkg():
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# single iter package, with meaningless cans and empty carState/modelV2
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msgs = []
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for _ in range(500):
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can = messaging.new_message("can", 1)
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cs = messaging.new_message("carState")
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cp = messaging.new_message("carParams")
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msgs.append(can.as_reader())
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msgs.append(cs.as_reader())
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msgs.append(cp.as_reader())
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model = messaging.new_message("modelV2")
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msgs.append(model.as_reader())
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return msgs
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msgs = [m for _ in range(3) for m in single_iter_pkg()]
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out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
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states = [m for m in out if m.which() == "liveTracks"]
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failures = [not state.valid for state in states]
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assert len(states) == 0 or all(failures)
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