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interrfaces: more complete PID tests (#26422)

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* more complete PID tests

* doesn't need to be fancy

* less fancy
This commit is contained in:
Shane Smiskol
2022-11-09 12:10:08 -08:00
committed by GitHub
parent c64e2c228a
commit 0ca9d1810c
1 changed files with 12 additions and 9 deletions
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selfdrive/car/tests/test_car_interfaces.py
+12 -9
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@@ -34,15 +34,18 @@ class TestCarInterfaces(unittest.TestCase):
self.assertGreater(car_params.maxLateralAccel, 0)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'torque':
kf = car_params.lateralTuning.torque.kf
self.assertTrue(not math.isnan(kf) and kf > 0)
self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction))
elif tuning == 'indi':
self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
tune = car_params.lateralTuning
if tune.which() == 'pid':
self.assertTrue(not math.isnan(tune.pid.kf) and tune.pid.kf > 0)
self.assertTrue(len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP))
self.assertTrue(len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP))
elif tune.which() == 'torque':
self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
self.assertTrue(not math.isnan(tune.torque.friction))
elif tune.which() == 'indi':
self.assertTrue(len(tune.indi.outerLoopGainV))
# Run car interface
CC = car.CarControl.new_message()