stash

selfdrive/car/tests/test_lateral_limits.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from collections import defaultdict
 import importlib
 from parameterized import parameterized_class
 import unittest
@@ -13,6 +14,8 @@ MAX_LAT_UP_JERK = 2.5  # m/s^3
 MAX_LAT_UP_JERK_TOLERANCE = 0.5  # m/s^3
 MIN_LAT_DOWN_JERK = 2.0  # m/s^3
 
+jerks = defaultdict(dict)
+
 
 @parameterized_class('car_model', [(c,) for c in all_known_cars()])
 class TestLateralLimits(unittest.TestCase):
@@ -32,15 +35,26 @@ class TestLateralLimits(unittest.TestCase):
       raise unittest.SkipTest
 
     # TODO: test Honda
-    if CP.carName in ("honda",):
+    # if CP.carName in ("honda",):
+    if CP.carName not in ("hyundai",):
       raise unittest.SkipTest("No steering safety")
 
     CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
     cls.torque_params = get_torque_params(cls.car_model)
 
+  @classmethod
+  def tearDownClass(cls):
+    for car, _jerks in jerks.items():
+      violation = _jerks['up_jerk'] >= (MAX_LAT_UP_JERK + MAX_LAT_UP_JERK_TOLERANCE)
+      # violation |= _jerks['down_jerk'] <= MIN_LAT_DOWN_JERK
+      violation = ' - VIOLATION' if violation else ''
+      if violation or True:
+        print(f'{car:37} - up jerk: {round(_jerks["up_jerk"], 2)} m/s^3, down jerk: {round(_jerks["down_jerk"], 2)} m/s^3{violation}')
+    print('\n')
+    # print(dict(jerks))
+
   def _calc_jerk(self):
-    # TODO: some cars don't send at 100hz, put steer rate/step into CCP to calculate this properly
     steer_step = self.control_params.STEER_STEP
     time_to_max = self.control_params.STEER_MAX / self.control_params.STEER_DELTA_UP / 100. * steer_step
     time_to_min = self.control_params.STEER_MAX / self.control_params.STEER_DELTA_DOWN / 100. * steer_step
@@ -50,8 +64,9 @@ class TestLateralLimits(unittest.TestCase):
 
   def test_jerk_limits(self):
     up_jerk, down_jerk = self._calc_jerk()
+    jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
     self.assertLess(up_jerk, MAX_LAT_UP_JERK + MAX_LAT_UP_JERK_TOLERANCE)
-    self.assertGreater(down_jerk, MIN_LAT_DOWN_JERK)
+    # self.assertGreater(down_jerk, MIN_LAT_DOWN_JERK)
 
 
 if __name__ == "__main__":