github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
28 lines
1.1 KiB
Python
28 lines
1.1 KiB
Python
from opendbc.car.structs import car
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from openpilot.common.test import OpenpilotTestCase
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from openpilot.selfdrive.locationd.torqued import TorqueEstimator
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class TestTorqued(OpenpilotTestCase):
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def test_cal_percent(self):
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est = TorqueEstimator(car.CarParams())
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msg = est.get_msg()
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assert msg.lateralTorqueParameters.calPerc == 0
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for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
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est.filtered_points.buckets_min_points.values(), strict=True):
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for _ in range(int(min_pts)):
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est.filtered_points.add_point((low + high) / 2.0, 0.0)
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# enough bucket points, but not enough total points
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msg = est.get_msg()
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assert msg.lateralTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
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# add enough points to bucket with most capacity
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key = list(est.filtered_points.buckets)[0]
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for _ in range(est.min_points_total - len(est.filtered_points)):
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est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
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msg = est.get_msg()
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assert msg.lateralTorqueParameters.calPerc == 100
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