46 lines
1.7 KiB
Python
46 lines
1.7 KiB
Python
from parameterized import parameterized
|
|
|
|
from cereal import car, log
|
|
from opendbc.car.car_helpers import interfaces
|
|
from opendbc.car.honda.values import CAR as HONDA
|
|
from opendbc.car.toyota.values import CAR as TOYOTA
|
|
from opendbc.car.nissan.values import CAR as NISSAN
|
|
from opendbc.car.gm.values import CAR as GM
|
|
from opendbc.car.vehicle_model import VehicleModel
|
|
from openpilot.common.realtime import DT_CTRL
|
|
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
|
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
|
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
|
|
|
|
|
|
class TestLatControl:
|
|
|
|
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
|
|
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
|
|
def test_saturation(self, car_name, controller):
|
|
CarInterface = interfaces[car_name]
|
|
CP = CarInterface.get_non_essential_params(car_name)
|
|
CI = CarInterface(CP)
|
|
VM = VehicleModel(CP)
|
|
|
|
controller = controller(CP.as_reader(), CI, DT_CTRL)
|
|
|
|
CS = car.CarState.new_message()
|
|
CS.vEgo = 30
|
|
CS.steeringPressed = False
|
|
|
|
params = log.LiveParametersData.new_message()
|
|
|
|
# Saturate for curvature limited and controller limited
|
|
for _ in range(1000):
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 0, True, 0.2)
|
|
assert lac_log.saturated
|
|
|
|
for _ in range(1000):
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 0, False, 0.2)
|
|
assert not lac_log.saturated
|
|
|
|
for _ in range(1000):
|
|
_, _, lac_log = controller.update(True, CS, VM, params, False, 1, False, 0.2)
|
|
assert lac_log.saturated
|