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capnp test

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This commit is contained in:
Jason Wen
2025-03-16 17:25:20 -04:00
parent 0a65a94aae
commit 5feb7fca12
1 changed files with 2 additions and 0 deletions
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selfdrive/controls/lib/tests/test_latcontrol.py
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@@ -6,6 +6,7 @@ from opendbc.car.honda.values import CAR as HONDA
from opendbc.car.toyota.values import CAR as TOYOTA
from opendbc.car.nissan.values import CAR as NISSAN
from opendbc.car.vehicle_model import VehicleModel
from openpilot.selfdrive.car.helpers import convert_to_capnp
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -21,6 +22,7 @@ class TestLatControl:
CP = CarInterface.get_non_essential_params(car_name)
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
CI = CarInterface(CP, CP_SP, CarController, CarState)
CP_SP = convert_to_capnp(CP_SP)
VM = VehicleModel(CP)
controller = controller(CP.as_reader(), CP_SP.as_reader(), CI)