From 8d4770a65a43b519d3e59429c8e8f1f7492c9319 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 20 Aug 2024 15:42:02 -0700
Subject: [PATCH] move test_lateral_limits.py to opendbc

old-commit-hash: fe51a2fc6272dfe81f5e8669fcd09b536ca7406d
---
 opendbc_repo                               |  2 +-
 selfdrive/car/tests/test_lateral_limits.py | 98 ----------------------
 2 files changed, 1 insertion(+), 99 deletions(-)
 delete mode 100755 selfdrive/car/tests/test_lateral_limits.py

diff --git a/opendbc_repo b/opendbc_repo
index fa1d7e7c1..3229aa2e9 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit fa1d7e7c16eb00a6db2b86106cea3cc6d4fe61f7
+Subproject commit 3229aa2e9c5dfefe6acb827e829fd3f43215bdf1
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
deleted file mode 100755
index 87c7a5e25..000000000
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ /dev/null
@@ -1,98 +0,0 @@
-#!/usr/bin/env python3
-from collections import defaultdict
-import importlib
-from parameterized import parameterized_class
-import pytest
-import sys
-
-from opendbc.car import DT_CTRL
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.fingerprints import all_known_cars
-from opendbc.car.interfaces import get_torque_params
-
-CAR_MODELS = all_known_cars()
-
-# ISO 11270 - allowed up jerk is strictly lower than recommended limits
-MAX_LAT_ACCEL = 3.0              # m/s^2
-MAX_LAT_JERK_UP = 2.5            # m/s^3
-MAX_LAT_JERK_DOWN = 5.0          # m/s^3
-MAX_LAT_JERK_UP_TOLERANCE = 0.5  # m/s^3
-
-# jerk is measured over half a second
-JERK_MEAS_T = 0.5
-
-
-@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
-class TestLateralLimits:
-  car_model: str
-
-  @classmethod
-  def setup_class(cls):
-    CarInterface, _, _ = interfaces[cls.car_model]
-    CP = CarInterface.get_non_essential_params(cls.car_model)
-
-    if CP.dashcamOnly:
-      pytest.skip("Platform is behind dashcamOnly")
-
-    # TODO: test all platforms
-    if CP.lateralTuning.which() != 'torque':
-      pytest.skip()
-
-    if CP.notCar:
-      pytest.skip()
-
-    CarControllerParams = importlib.import_module(f'opendbc.car.{CP.carName}.values').CarControllerParams
-    cls.control_params = CarControllerParams(CP)
-    cls.torque_params = get_torque_params()[cls.car_model]
-
-  @staticmethod
-  def calculate_0_5s_jerk(control_params, torque_params):
-    steer_step = control_params.STEER_STEP
-    max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
-
-    # Steer up/down delta per 10ms frame, in percentage of max torque
-    steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step
-    steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step
-
-    # Lateral acceleration reached in 0.5 seconds, clipping to max torque
-    accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
-    accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
-
-    # Convert to m/s^3
-    return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T
-
-  def test_jerk_limits(self):
-    up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
-    assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE
-    assert down_jerk <= MAX_LAT_JERK_DOWN
-
-  def test_max_lateral_accel(self):
-    assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL
-
-
-class LatAccelReport:
-  car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
-
-  def pytest_sessionfinish(self):
-    print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
-
-    max_car_model_len = max([len(car_model) for car_model in self.car_model_jerks])
-    for car_model, _jerks in sorted(self.car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
-      violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
-                  _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
-      violation_str = " - VIOLATION" if violation else ""
-
-      print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " +
-            f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
-
-  @pytest.fixture(scope="class", autouse=True)
-  def class_setup(self, request):
-    yield
-    cls = request.cls
-    if hasattr(cls, "control_params"):
-      up_jerk, down_jerk = TestLateralLimits.calculate_0_5s_jerk(cls.control_params, cls.torque_params)
-      self.car_model_jerks[cls.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
-
-
-if __name__ == '__main__':
-  sys.exit(pytest.main([__file__, '-n0', '--no-summary'], plugins=[LatAccelReport()]))  # noqa: TID251