7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
56 lines
2.2 KiB
Python
56 lines
2.2 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.gm.values import CAR as GM
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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.car.helpers import convert_to_capnp
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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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from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
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class TestLatControl:
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@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
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(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
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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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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 = controller(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
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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, 0.2)
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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, 0.2)
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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, 0.2)
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assert lac_log.saturated
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