107 lines
4.6 KiB
Python
107 lines
4.6 KiB
Python
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
|