mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-23 07:03:54 +08:00
2174005f05
* Initial commit
* Fix bugs
* Need more torque rate
* Cleanup cray cray control
* Write nicely
* Chiiil
* Not relevant for cray cray control
* Do some logging
* Seems like it has more torque than I thought
* Bit more feedforward
* Tune change
* Retune
* Retune
* Little more chill
* Add coroll
* Add corolla
* Give craycray a good name
* Update to proper logging
* D to the PI
* Should be in radians
* Add d
* Start oscillations
* Add D term
* Only change torque rate limits for new tune
* Add d logging
* Should be enough
* Wrong sign in D
* Downtune a little
* Needed to prevent faults
* Add lqr rav4 to tune
* Try derivative again
* Data based retune
* Data based retune
* add friction compensation
* Doesnt need too much P with friction comp
* remove lqr
* Remove kd
* Fix tests
* fix tests
* Too much error
* Get roll induced error under 1cm/deg
* Too much jitter
* Do roll comp
* Add ki
* Final update
* Update refs
* Cleanup latcontrol_torque a little more
old-commit-hash: fe0bcdaef6
72 lines
2.3 KiB
Python
Executable File
72 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 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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