IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/controls/tests/test_latcontrol.py

@@ -0,0 +1,106 @@
+from parameterized import parameterized
+
+from iqpilot.cereal import car, log
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.honda.values import CAR as HONDA
+from iqdbc.car.toyota.values import CAR as TOYOTA
+from iqdbc.car.nissan.values import CAR as NISSAN
+from iqdbc.car.gm.values import CAR as GM
+from iqdbc.car.vehicle_model import VehicleModel
+from iqpilot.common.realtime import DT_CTRL
+from iqpilot.selfdrive.car.helpers import convert_to_capnp
+from iqpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
+from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
+import iqpilot.selfdrive.controls.lib.latcontrol_torque_pq as latcontrol_torque_pq
+from iqpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from iqpilot.selfdrive.locationd.helpers import Pose
+from iqpilot.common.mock.generators import generate_deviceMotion
+from iqpilot.selfdrive.car import interfaces as iqpilot_interfaces
+
+
+class TestLatControl:
+
+  @staticmethod
+  def build_pq_controller():
+    car_name = TOYOTA.TOYOTA_RAV4
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
+    CI = CarInterface(CP, CP_IQ)
+    iqpilot_interfaces.apply_iq_car_config(CI)
+    return CP, LatControlTorquePQ(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
+
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
+  def test_saturation(self, car_name, controller):
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
+    CI = CarInterface(CP, CP_IQ)
+    iqpilot_interfaces.apply_iq_car_config(CI)
+    CP_IQ = convert_to_capnp(CP_IQ)
+    VM = VehicleModel(CP)
+
+    controller = controller(CP.as_reader(), CP_IQ.as_reader(), CI, DT_CTRL)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    CS.steeringPressed = False
+
+    params = log.VehicleParameters.new_message()
+
+    lp = generate_deviceMotion()
+    pose = Pose.from_live_pose(lp.deviceMotion)
+
+    # Saturate for curvature limited and controller limited
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True, 0.2)
+    assert lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False, 0.2)
+    assert not lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False, 0.2)
+    assert lac_log.saturated
+
+  def test_pq_controller_update(self):
+    CP, controller = self.build_pq_controller()
+    VM = VehicleModel(CP)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    params = log.VehicleParameters.new_message()
+    pose = Pose.from_live_pose(generate_deviceMotion().deviceMotion)
+
+    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
+    assert lac_log.active
+
+  def test_pq_controller_inactive_lookahead_and_slew_reset(self):
+    CP, controller = self.build_pq_controller()
+    controller.curvature_lookahead_enabled = True
+    controller.lateral_acceleration_slew_limiter.enabled = True
+    VM = VehicleModel(CP)
+    CS = car.CarState.new_message(vEgo=30)
+    params = log.VehicleParameters.new_message()
+    pose = Pose.from_live_pose(generate_deviceMotion().deviceMotion)
+
+    torque, angle, lac_log = controller.update(False, CS, VM, params, False, 0.001, pose, False, 0.2, lookahead_curvature=0.002)
+    assert torque == 0.0
+    assert angle == 0.0
+    assert not lac_log.active
+    assert controller.lateral_acceleration_slew_limiter.a_lim == 1.8
+
+  def test_pq_live_torque_update_freeze_and_unfreeze(self, monkeypatch):
+    _, controller = self.build_pq_controller()
+    initial = (controller.torque_params.latAccelFactor, controller.torque_params.latAccelOffset, controller.torque_params.friction)
+    controller.update_live_torque_params(3.0, 0.2, 0.4)
+    assert (controller.torque_params.latAccelFactor, controller.torque_params.latAccelOffset, controller.torque_params.friction) == initial
+
+    monkeypatch.setattr(latcontrol_torque_pq, "FREEZE_LIVE_TORQUE_PARAMS", False)
+    controller.update_live_torque_params(3.0, 0.2, 0.4)
+    assert controller.torque_params.latAccelFactor == 3.0
+    assert abs(controller.torque_params.latAccelOffset - 0.2) < 1e-6
+    assert abs(controller.torque_params.friction - 0.4) < 1e-6