From 89e5ee45ca07842910f209055da70df1f53f14c9 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Mon, 11 Sep 2023 08:30:13 +0900 Subject: [PATCH] cleanup remnants of LQR and INDI tuning (#29860) * not use 'indi' cleanup * bump cereal * rm more --------- Co-authored-by: Adeeb Shihadeh old-commit-hash: 238f9d65dbc17613c2a045b5741483c3f9a7659d --- cereal | 2 +- selfdrive/car/tests/test_car_interfaces.py | 3 --- selfdrive/car/tests/test_models.py | 2 -- selfdrive/controls/controlsd.py | 2 -- selfdrive/test/process_replay/test_processes.py | 4 ++-- 5 files changed, 3 insertions(+), 10 deletions(-) diff --git a/cereal b/cereal index d469732b3b..7de568b659 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit d469732b3b4c37aaa21fa37682a20f2aba9ab91c +Subproject commit 7de568b65922b1b7a5cb9a9a391e3e03394500f7 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 0c970f5c75..787b5d6316 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase): self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0) - elif tune.which() == 'indi': - self.assertTrue(len(tune.indi.outerLoopGainV)) - cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) # Run car interface now_nanos = 0 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 6cebdde77b..1b9e39f2f1 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -187,8 +187,6 @@ class TestCarModelBase(unittest.TestCase): self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) elif tuning == 'torque': self.assertTrue(self.CP.lateralTuning.torque.kf > 0) - elif tuning == 'indi': - self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV)) else: raise Exception("unknown tuning") diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index bb135071f2..6cfeabefd4 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -807,8 +807,6 @@ class Controls: controlsState.lateralControlState.pidState = lac_log elif lat_tuning == 'torque': controlsState.lateralControlState.torqueState = lac_log - elif lat_tuning == 'indi': - controlsState.lateralControlState.indiState = lac_log self.pm.send('controlsState', dat) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index ab51948dd0..973c16971e 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -20,8 +20,8 @@ source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS) - ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) - ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) + ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS + ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH)