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car interfaces: test longitudinal params are set correctly (#26894)

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* add long unit tests and fix

* revert

* remove debug

* cleanup

Co-authored-by: Laptop Researcher <laptop@researcher.com>
This commit is contained in:
Shane Smiskol
2023-01-09 16:21:47 -08:00
committed by GitHub
parent a40efbdfcc
commit dac7a24677
1 changed files with 6 additions and 0 deletions
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selfdrive/car/tests/test_car_interfaces.py
+6
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@@ -35,6 +35,12 @@ class TestCarInterfaces(unittest.TestCase):
self.assertGreater(car_params.centerToFront, 0)
self.assertGreater(car_params.maxLateralAccel, 0)
# Longitudinal sanity checks
self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP))
self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
# Lateral sanity checks
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tune = car_params.lateralTuning
if tune.which() == 'pid':