mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-19 14:42:08 +08:00
DevTekVE
39744481db
# Conflicts: # common/params.cc # opendbc_repo # panda # selfdrive/car/tests/test_car_interfaces.py # selfdrive/modeld/modeld.py # selfdrive/test/process_replay/ref_commit
41 lines
1.5 KiB
Python
41 lines
1.5 KiB
Python
from parameterized import parameterized
|
|
|
|
from cereal import car, log
|
|
from opendbc.car.car_helpers import interfaces
|
|
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.controls.lib.latcontrol_pid import LatControlPID
|
|
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
|
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
|
|
from openpilot.selfdrive.locationd.helpers import Pose
|
|
from openpilot.common.mock.generators import generate_livePose
|
|
|
|
|
|
class TestLatControl:
|
|
|
|
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)])
|
|
def test_saturation(self, car_name, controller):
|
|
CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
|
|
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)
|
|
VM = VehicleModel(CP)
|
|
|
|
controller = controller(CP.as_reader(), CI)
|
|
|
|
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(1000):
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose)
|
|
|
|
assert lac_log.saturated
|