mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-07-25 19:32:03 +08:00
infiniteCable
44bc7cd879
* custom data handling * cleanups * cleanup * Update opendbc_repo * fix missing CarParamsIC handling * ic srv list and duplicate sp cleanup * divide lists for better visibility * fix curvatured, missing services, split lists, cleanup unneccessary * curvatured time correctness after custom IC structure introduction * hint for future data quality adaption * point to master before merge
50 lines
2.0 KiB
Python
50 lines
2.0 KiB
Python
from openpilot.common.parameterized import parameterized
|
|
|
|
from openpilot.cereal import log
|
|
from opendbc.car.structs import car
|
|
from opendbc.car.car_helpers import interfaces
|
|
from opendbc.car.toyota.values import CAR as TOYOTA
|
|
from opendbc.car.vehicle_model import VehicleModel
|
|
from openpilot.common.realtime import DT_CTRL
|
|
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque, LAT_ACCEL_REQUEST_BUFFER_SECONDS
|
|
|
|
from openpilot.selfdrive.car.helpers import convert_to_capnp
|
|
from openpilot.selfdrive.locationd.helpers import Pose
|
|
from openpilot.common.mock.generators import generate_livePose
|
|
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
|
|
|
def get_controller(car_name):
|
|
CarInterface = interfaces[car_name]
|
|
CP = CarInterface.get_non_essential_params(car_name)
|
|
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
|
|
CP_IC = CarInterface.get_non_essential_params_ic(CP, car_name)
|
|
CI = CarInterface(CP, CP_SP, CP_IC)
|
|
sunnypilot_interfaces.setup_interfaces(CI)
|
|
CP_SP = convert_to_capnp(CP_SP)
|
|
VM = VehicleModel(CP)
|
|
controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
|
|
return controller, VM
|
|
|
|
class TestLatControlTorqueBuffer:
|
|
|
|
@parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)])
|
|
def test_request_buffer_consistency(self, car_name):
|
|
buffer_steps = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / DT_CTRL)
|
|
controller, VM = get_controller(car_name)
|
|
|
|
CS = car.CarState.new_message()
|
|
CS.vEgo = 30
|
|
CS.steeringPressed = False
|
|
params = log.LiveParametersData.new_message()
|
|
|
|
lp = generate_livePose()
|
|
pose = Pose.from_live_pose(lp.livePose)
|
|
|
|
for _ in range(buffer_steps):
|
|
controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
|
|
assert all(val != 0 for val in controller.lat_accel_request_buffer)
|
|
|
|
for _ in range(buffer_steps):
|
|
controller.update(False, CS, VM, params, False, 0.0, pose, False, 0.2)
|
|
assert all(val == 0 for val in controller.lat_accel_request_buffer)
|