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# Conflicts: # opendbc_repo # selfdrive/car/card.py # selfdrive/car/tests/test_car_interfaces.py # selfdrive/car/tests/test_models.py # selfdrive/controls/controlsd.py # selfdrive/controls/lib/tests/test_latcontrol.py # selfdrive/pandad/panda.h # system/manager/process_config.py Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master-new`
49 lines
1.8 KiB
Python
49 lines
1.8 KiB
Python
from parameterized import parameterized
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from cereal import car, log
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.honda.values import CAR as HONDA
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from opendbc.car.toyota.values import CAR as TOYOTA
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from opendbc.car.nissan.values import CAR as NISSAN
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from opendbc.car.vehicle_model import VehicleModel
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from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from openpilot.selfdrive.locationd.helpers import Pose
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from openpilot.common.mock.generators import generate_livePose
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class TestLatControl:
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@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)])
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def test_saturation(self, car_name, controller):
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CarInterface = interfaces[car_name]
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CP = CarInterface.get_non_essential_params(car_name)
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CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
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CI = CarInterface(CP, CP_SP)
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VM = VehicleModel(CP)
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controller = controller(CP.as_reader(), CI)
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CS = car.CarState.new_message()
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CS.vEgo = 30
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CS.steeringPressed = False
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params = log.LiveParametersData.new_message()
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lp = generate_livePose()
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pose = Pose.from_live_pose(lp.livePose)
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# Saturate for curvature limited and controller limited
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
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assert lac_log.saturated
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
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assert not lac_log.saturated
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
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assert lac_log.saturated
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