48 lines
1.9 KiB
Python
48 lines
1.9 KiB
Python
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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.toyota.values import CAR as TOYOTA
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from opendbc.car.vehicle_model import VehicleModel
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque, LAT_ACCEL_REQUEST_BUFFER_SECONDS
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from openpilot.selfdrive.car.helpers import convert_to_capnp
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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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from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
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def get_controller(car_name):
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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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sunnypilot_interfaces.setup_interfaces(CI)
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CP_SP = convert_to_capnp(CP_SP)
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VM = VehicleModel(CP)
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controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
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return controller, VM
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class TestLatControlTorqueBuffer:
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@parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)])
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def test_request_buffer_consistency(self, car_name):
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buffer_steps = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / DT_CTRL)
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controller, VM = get_controller(car_name)
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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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for _ in range(buffer_steps):
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controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
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assert all(val != 0 for val in controller.lat_accel_request_buffer)
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for _ in range(buffer_steps):
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controller.update(False, CS, VM, params, False, 0.0, pose, False, 0.2)
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assert all(val == 0 for val in controller.lat_accel_request_buffer)
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