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45 lines
1.4 KiB
45 lines
1.4 KiB
3 years ago
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#!/usr/bin/env python3
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import unittest
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from parameterized import parameterized
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from cereal import car, log
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from selfdrive.car.car_helpers import interfaces
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from selfdrive.car.honda.values import CAR as HONDA
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.nissan.values import CAR as NISSAN
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from selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
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from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
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from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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class TestLatControl(unittest.TestCase):
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@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlLQR), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
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def test_saturation(self, car_name, controller):
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CarInterface, CarController, CarState = interfaces[car_name]
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CP = CarInterface.get_params(car_name)
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CI = CarInterface(CP, CarController, CarState)
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VM = VehicleModel(CP)
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controller = controller(CP, CI)
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CS = car.CarState.new_message()
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CS.vEgo = 30
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last_actuators = car.CarControl.Actuators.new_message()
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params = log.LiveParametersData.new_message()
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for _ in range(1000):
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_, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, 1, 0)
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self.assertTrue(lac_log.saturated)
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if __name__ == "__main__":
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unittest.main()
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