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85 lines
3.3 KiB
85 lines
3.3 KiB
#!/usr/bin/env python3
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import math
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import unittest
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import importlib
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from parameterized import parameterized
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from cereal import car
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from selfdrive.car import gen_empty_fingerprint
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from selfdrive.car.car_helpers import interfaces
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from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
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class TestCarInterfaces(unittest.TestCase):
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@parameterized.expand([(car,) for car in all_known_cars()])
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def test_car_interfaces(self, car_name):
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if car_name in FINGERPRINTS:
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fingerprint = FINGERPRINTS[car_name][0]
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else:
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fingerprint = {}
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CarInterface, CarController, CarState = interfaces[car_name]
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fingerprints = gen_empty_fingerprint()
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fingerprints.update({k: fingerprint for k in fingerprints.keys()})
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car_fw = []
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car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False)
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car_interface = CarInterface(car_params, CarController, CarState)
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assert car_params
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assert car_interface
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self.assertGreater(car_params.mass, 1)
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self.assertGreater(car_params.wheelbase, 0)
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# centerToFront is center of gravity to front wheels, assert a reasonable range
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self.assertTrue(car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7)
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self.assertGreater(car_params.maxLateralAccel, 0)
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# Longitudinal sanity checks
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self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP))
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self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
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self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
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# Lateral sanity checks
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if car_params.steerControlType != car.CarParams.SteerControlType.angle:
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tune = car_params.lateralTuning
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if tune.which() == 'pid':
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self.assertTrue(not math.isnan(tune.pid.kf) and tune.pid.kf > 0)
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self.assertTrue(len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP))
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self.assertTrue(len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP))
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elif tune.which() == 'torque':
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self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
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self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
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elif tune.which() == 'indi':
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self.assertTrue(len(tune.indi.outerLoopGainV))
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# Run car interface
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CC = car.CarControl.new_message()
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for _ in range(10):
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car_interface.update(CC, [])
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car_interface.apply(CC, 0)
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car_interface.apply(CC, 0)
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CC = car.CarControl.new_message()
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CC.enabled = True
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for _ in range(10):
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car_interface.update(CC, [])
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car_interface.apply(CC, 0)
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car_interface.apply(CC, 0)
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# Test radar interface
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RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
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radar_interface = RadarInterface(car_params)
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assert radar_interface
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# Run radar interface once
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radar_interface.update([])
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if not car_params.radarUnavailable and radar_interface.rcp is not None and \
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hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
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radar_interface._update([radar_interface.trigger_msg])
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if __name__ == "__main__":
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unittest.main()
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