mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-21 08:53:53 +08:00
c1caca104f
* add panda flag for toyota stock long with camera * clean up * Add 2022 RAV4 Hybrid from Philly * fix wrong fw in interface, did this ever work? * Must be a hybrid * no radar parsing * fix can error * move to own platform * generate docs * fix * Add 2022 Rav4 XSE Australia fingerprint parameters (#24303) * Update values.py Add 2022 Rav4 XSE Australia * add commas Co-authored-by: Shane Smiskol <shane@smiskol.com> * bump panda * wait, the camera doesn't even send 0x343, right? * use a set instead, more obvious * don't test without a parser * bump panda * flip panda flag * bump panda * add commas * regen and update refs * set to none by default * revert parenthesis * update comment * bump panda * regen and update refs * add test models and update readme * bump to master Co-authored-by: BrettLynch123 <34538435+BrettLynch123@users.noreply.github.com>
73 lines
2.3 KiB
Python
Executable File
73 lines
2.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import unittest
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import importlib
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from parameterized import parameterized
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from cereal import car
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from selfdrive.car.fingerprints import all_known_cars
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from selfdrive.car.car_helpers import interfaces
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from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
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class TestCarInterfaces(unittest.TestCase):
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@parameterized.expand([(car,) for car in all_known_cars()])
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def test_car_interfaces(self, car_name):
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if car_name in FINGERPRINTS:
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fingerprint = FINGERPRINTS[car_name][0]
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else:
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fingerprint = {}
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CarInterface, CarController, CarState = interfaces[car_name]
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fingerprints = {
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0: fingerprint,
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1: fingerprint,
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2: fingerprint,
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}
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car_fw = []
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car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
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car_interface = CarInterface(car_params, CarController, CarState)
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assert car_params
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assert car_interface
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self.assertGreater(car_params.mass, 1)
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self.assertGreater(car_params.steerRateCost, 1e-3)
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if car_params.steerControlType != car.CarParams.SteerControlType.angle:
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tuning = car_params.lateralTuning.which()
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if tuning == 'pid':
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self.assertTrue(len(car_params.lateralTuning.pid.kpV))
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elif tuning == 'torque':
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self.assertTrue(car_params.lateralTuning.torque.kf > 0)
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elif tuning == 'indi':
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self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
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# Run car interface
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CC = car.CarControl.new_message()
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for _ in range(10):
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car_interface.update(CC, [])
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car_interface.apply(CC)
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car_interface.apply(CC)
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CC = car.CarControl.new_message()
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CC.enabled = True
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for _ in range(10):
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car_interface.update(CC, [])
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car_interface.apply(CC)
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car_interface.apply(CC)
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# Test radar interface
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RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
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radar_interface = RadarInterface(car_params)
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assert radar_interface
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# Run radar interface once
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radar_interface.update([])
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if not car_params.radarOffCan and radar_interface.rcp is not None and \
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hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
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radar_interface._update([radar_interface.trigger_msg])
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if __name__ == "__main__":
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unittest.main()
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