IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py

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+from parameterized import parameterized
+
+from iqpilot.cereal import car, log
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.toyota.values import CAR as TOYOTA
+from iqdbc.car.vehicle_model import VehicleModel
+from iqpilot.common.realtime import DT_CTRL
+from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque, LAT_ACCEL_REQUEST_BUFFER_SECONDS
+
+from iqpilot.selfdrive.car.helpers import convert_to_capnp
+from iqpilot.selfdrive.locationd.helpers import Pose
+from iqpilot.common.mock.generators import generate_deviceMotion
+from iqpilot.selfdrive.car import interfaces as iqpilot_interfaces
+
+def get_controller(car_name):
+  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 = LatControlTorque(CP.as_reader(), CP_IQ.as_reader(), CI, DT_CTRL)
+  return controller, VM
+
+class TestLatControlTorqueBuffer:
+
+  @parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)])
+  def test_request_buffer_consistency(self, car_name):
+    buffer_steps = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / DT_CTRL)
+    controller, VM = get_controller(car_name)
+
+    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)
+
+    for _ in range(buffer_steps):
+      controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
+    assert all(val != 0 for val in controller.lat_accel_request_buffer)
+
+    for _ in range(buffer_steps):
+      controller.update(False, CS, VM, params, False, 0.0, pose, False, 0.2)
+    assert all(val == 0 for val in controller.lat_accel_request_buffer)