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test models: check angle matches safety (#38110)

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* check angle matches safety

* add to fuzzy

* explicit

* fix tesla

* just real data for now, fix toyota

* clean up
This commit is contained in:
Shane Smiskol
2026-05-31 01:21:35 -07:00
committed by GitHub
parent 5bbcc32b5d
commit 965f47efe3
1 changed files with 15 additions and 0 deletions
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15
selfdrive/car/tests/test_models.py
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@@ -27,6 +27,14 @@ from openpilot.tools.lib.route import SegmentName
SafetyModel = car.CarParams.SafetyModel
SteerControlType = structs.CarParams.SteerControlType
# panda safety stores angle_meas in brand-specific CAN units (angle_deg_to_can in opendbc/safety/modes/*.h).
ANGLE_DEG_TO_CAN = {
"tesla": -10,
"toyota": 17.452007,
"nissan": 100,
"psa": 10,
}
NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
JOB_ID = int(os.environ.get("JOB_ID", "0"))
INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
@@ -418,6 +426,13 @@ class TestCarModelBase(unittest.TestCase):
checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
# check steering angle for angle control cars (panda stores angle_meas in CAN units)
# ford excluded since it tracks curvature, not steering angle
if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand != "ford":
angle_can = (CS.steeringAngleDeg + CS.steeringAngleOffsetDeg) * ANGLE_DEG_TO_CAN[self.CP.brand]
checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
angle_can < (self.safety.get_angle_meas_min() - 1))
checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()