mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-21 01:23:56 +08:00
dd9d5d4528
* add pytest-asyncio * switch common * switch selfdrive * switch system * switch tools * small fixes * fix setUp and valgrind pytest * switch to setup * fix random * switch mock * switch test_lateral_limits * revert test_ui * fix poetry.lock * add unittest to banned-api * add inline ignores to remaining unittest imports * revert test_models * revert check_can_parser_performance * one more skip --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
38 lines
1.4 KiB
Python
Executable File
38 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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from parameterized import parameterized
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from cereal import car, log
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from openpilot.selfdrive.car.car_helpers import interfaces
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from openpilot.selfdrive.car.honda.values import CAR as HONDA
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from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
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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.controls.lib.vehicle_model import VehicleModel
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from openpilot.common.mock.generators import generate_liveLocationKalman
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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, CarController, CarState = interfaces[car_name]
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CP = CarInterface.get_non_essential_params(car_name)
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CI = CarInterface(CP, CarController, CarState)
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VM = VehicleModel(CP)
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controller = controller(CP, 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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llk = generate_liveLocationKalman()
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk)
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assert lac_log.saturated
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