mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-22 07:43:55 +08:00
f7edd5f3d3
* json
* better naem
* Read from table
* formatting and default to nan
* Generate docs
* Read from table
* this should be the same
* Prius v is full
* test we always set the tunes correctly
add to release files
* Set for all cars
Set for all cars
* Revert tuning changes
Revert tuning changes
* remove that
* fixes
* update ref commit for new maxLateralAccels
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 3066ad81a8
76 lines
2.4 KiB
Python
Executable File
76 lines
2.4 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import math
|
|
import unittest
|
|
import importlib
|
|
from parameterized import parameterized
|
|
|
|
from cereal import car
|
|
from selfdrive.car.fingerprints import all_known_cars
|
|
from selfdrive.car.car_helpers import interfaces
|
|
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
|
|
|
|
class TestCarInterfaces(unittest.TestCase):
|
|
|
|
@parameterized.expand([(car,) for car in all_known_cars()])
|
|
def test_car_interfaces(self, car_name):
|
|
if car_name in FINGERPRINTS:
|
|
fingerprint = FINGERPRINTS[car_name][0]
|
|
else:
|
|
fingerprint = {}
|
|
|
|
CarInterface, CarController, CarState = interfaces[car_name]
|
|
fingerprints = {
|
|
0: fingerprint,
|
|
1: fingerprint,
|
|
2: fingerprint,
|
|
}
|
|
|
|
car_fw = []
|
|
|
|
car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
|
|
car_interface = CarInterface(car_params, CarController, CarState)
|
|
assert car_params
|
|
assert car_interface
|
|
|
|
self.assertGreater(car_params.mass, 1)
|
|
self.assertGreater(car_params.steerRateCost, 1e-3)
|
|
|
|
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
|
|
tuning = car_params.lateralTuning.which()
|
|
if tuning == 'pid':
|
|
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
|
|
elif tuning == 'torque':
|
|
kf = car_params.lateralTuning.torque.kf
|
|
self.assertTrue(not math.isnan(kf) and kf > 0)
|
|
self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction))
|
|
elif tuning == 'indi':
|
|
self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
|
|
|
|
# Run car interface
|
|
CC = car.CarControl.new_message()
|
|
for _ in range(10):
|
|
car_interface.update(CC, [])
|
|
car_interface.apply(CC)
|
|
car_interface.apply(CC)
|
|
|
|
CC = car.CarControl.new_message()
|
|
CC.enabled = True
|
|
for _ in range(10):
|
|
car_interface.update(CC, [])
|
|
car_interface.apply(CC)
|
|
car_interface.apply(CC)
|
|
|
|
# Test radar interface
|
|
RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
|
|
radar_interface = RadarInterface(car_params)
|
|
assert radar_interface
|
|
|
|
# Run radar interface once
|
|
radar_interface.update([])
|
|
if not car_params.radarOffCan and radar_interface.rcp is not None and \
|
|
hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
|
|
radar_interface._update([radar_interface.trigger_msg])
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|