From dac7a24677ab680a0ff8fe209cc73cb14d6672a5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 9 Jan 2023 16:21:47 -0800 Subject: [PATCH] car interfaces: test longitudinal params are set correctly (#26894) * add long unit tests and fix * revert * remove debug * cleanup Co-authored-by: Laptop Researcher --- selfdrive/car/tests/test_car_interfaces.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 48d85584b3..11e7be7f44 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -35,6 +35,12 @@ class TestCarInterfaces(unittest.TestCase): self.assertGreater(car_params.centerToFront, 0) self.assertGreater(car_params.maxLateralAccel, 0) + # Longitudinal sanity checks + self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP)) + self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP)) + self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP)) + + # Lateral sanity checks if car_params.steerControlType != car.CarParams.SteerControlType.angle: tune = car_params.lateralTuning if tune.which() == 'pid':