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