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support testing integer torque 

cmt
This commit is contained in:
Shane Smiskol 2023-10-23 19:41:11 -07:00
parent a5f6713c14
commit 2c381077d5
1 changed files with 16 additions and 10 deletions
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26
tests/safety/common.py
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@ -99,16 +99,21 @@ class PandaSafetyTestBase(unittest.TestCase):
should_tx = (should_tx or v == inactive_value) and msg_allowed
self.assertEqual(self._tx(msg_function(v)), should_tx, (controls_allowed, should_tx, v))
def _common_measurement_test(self, msg_func: Callable, min_value: float, max_value: float, factor: int,
meas_min_func: Callable[[], int], meas_max_func: Callable[[], int]):
def _common_measurement_test(self, msg_func: Callable[[int | float], ...], min_value: float, max_value: float,
factor: int, meas_min_func: Callable[[], int], meas_max_func: Callable[[], int],
increment: float = 1):
"""Tests accurate measurement parsing, and that it's reset on safety mode init"""
for val in np.arange(min_value, max_value, 0.5):
for i in range(MAX_SAMPLE_VALS):
self.assertTrue(self._rx(msg_func(val + i * 0.1)))
# assert close by one decimal place
# Support testing float and int measurement structs using increment argument
incremented_val = increment * (MAX_SAMPLE_VALS - 1)
for val in np.arange(min_value, max_value, incremented_val):
for i in range(MAX_SAMPLE_VALS):
self.assertTrue(self._rx(msg_func(val + i * increment)))
# assert close by one decimal place if float
self.assertAlmostEqual(meas_min_func() / factor, val, delta=0.1)
self.assertAlmostEqual(meas_max_func() / factor - 0.5, val, delta=0.1)
self.assertAlmostEqual(meas_max_func() / factor - incremented_val, val, delta=0.1)
# ensure sample_t is reset on safety init
self._reset_safety_hooks()
@ -511,7 +516,6 @@ class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
for t in np.linspace(-self.MAX_TORQUE, self.MAX_TORQUE, MAX_SAMPLE_VALS):
self.assertTrue(self._rx(self._torque_driver_msg(t)))
print(self.safety.get_torque_driver_max(), self.safety.get_torque_driver_min())
self.assertNotEqual(self.safety.get_torque_driver_min(), 0)
self.assertNotEqual(self.safety.get_torque_driver_max(), 0)
@ -676,10 +680,12 @@ class AngleSteeringSafetyTest(PandaSafetyTestBase):
self._rx(self._speed_msg(speed))
def test_vehicle_speed_measurements(self):
self._common_measurement_test(self._speed_msg, 0, 80, VEHICLE_SPEED_FACTOR, self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
self._common_measurement_test(self._speed_msg, 0, 80, VEHICLE_SPEED_FACTOR,
self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max, increment=0.1)
def test_steering_angle_measurements(self):
self._common_measurement_test(self._angle_meas_msg, -180, 180, self.DEG_TO_CAN, self.safety.get_angle_meas_min, self.safety.get_angle_meas_max)
self._common_measurement_test(self._angle_meas_msg, -180, 180, self.DEG_TO_CAN,
self.safety.get_angle_meas_min, self.safety.get_angle_meas_max, increment=0.1)
def test_angle_cmd_when_enabled(self):
# when controls are allowed, angle cmd rate limit is enforced