IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/tools/joystick/tests/test_joystickd.py

@@ -0,0 +1,33 @@
+from iqpilot.cereal import car
+
+from iqpilot.tools.joystick.joystickd import get_lateral_joystick_outputs
+
+
+class StubVehicleModel:
+  def calc_curvature(self, steer_angle: float, v_ego: float, roll: float) -> float:
+    return steer_angle
+
+  def get_steer_from_curvature(self, curvature: float, v_ego: float, roll: float) -> float:
+    return curvature
+
+
+def test_angle_cars_use_angle_outputs():
+  CP = car.CarParams.new_message()
+  CP.steerControlType = car.CarParams.SteerControlType.angle
+
+  torque, steering_angle_deg, curvature = get_lateral_joystick_outputs(CP, StubVehicleModel(), 20.0, 0.0, 0.5)
+
+  assert torque == 0.0
+  assert steering_angle_deg != 0.0
+  assert curvature < 0.0
+
+
+def test_torque_cars_keep_torque_outputs():
+  CP = car.CarParams.new_message()
+  CP.steerControlType = car.CarParams.SteerControlType.torque
+
+  torque, steering_angle_deg, curvature = get_lateral_joystick_outputs(CP, StubVehicleModel(), 20.0, 0.0, 0.5)
+
+  assert torque == 0.5
+  assert steering_angle_deg != 0.0
+  assert curvature < 0.0