IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/locationd/test/test_torqued.py

@@ -0,0 +1,25 @@
+from iqpilot.cereal import car
+from iqpilot.selfdrive.locationd.torqued import TorqueEstimator
+
+
+def test_cal_percent():
+  est = TorqueEstimator(car.CarParams())
+  msg = est.get_msg()
+  assert msg.lateralTorqueParameters.calPerc == 0
+
+  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+                                  est.filtered_points.buckets_min_points.values(), strict=True):
+    for _ in range(int(min_pts)):
+      est.filtered_points.add_point((low + high) / 2.0, 0.0)
+
+  # enough bucket points, but not enough total points
+  msg = est.get_msg()
+  assert msg.lateralTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+
+  # add enough points to bucket with most capacity
+  key = list(est.filtered_points.buckets)[0]
+  for _ in range(est.min_points_total - len(est.filtered_points)):
+    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+
+  msg = est.get_msg()
+  assert msg.lateralTorqueParameters.calPerc == 100