You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
44 lines
1.4 KiB
44 lines
1.4 KiB
#!/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_lqr import LatControlLQR
|
|
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, LatControlLQR), (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()
|
|
|