74 lines
2.6 KiB
Python
74 lines
2.6 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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"""
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from types import SimpleNamespace
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import pytest
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from iqpilot.cereal import car
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from iqpilot.common.params import Params
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from iqpilot.selfdrive.iqmodeld.daemon import InferenceDaemon
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LIVE_DELAY = 0.4387
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RACK_DELAY = 0.10
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OFFSET = 0.05
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@pytest.fixture
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def params(tmp_path, monkeypatch):
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monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
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p = Params()
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p.put("IQSteerDelayCache", LIVE_DELAY)
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p.put("IQSoftwareSteerDelay", OFFSET)
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p.put_bool("ModelSmoothingEnabled", False)
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p.put("ModelLatSmoothSec", 0)
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p.put("PlanplusControl", 1.0)
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p.put("CameraOffset", 0.0)
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return p
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def _daemon(params, steer_control_type):
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car_params = car.CarParams.new_message()
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car_params.steerControlType = steer_control_type
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car_params.steerActuatorDelay = RACK_DELAY
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return SimpleNamespace(
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_params=params,
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_car_params=car_params,
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_channel=None,
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_sub={"lateralDelay": SimpleNamespace(lateralDelay=LIVE_DELAY)},
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_runtime=SimpleNamespace(lat_delay=None, PLANPLUS_CONTROL=None, model_smoothing_max_extra_sec=None),
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_warps=SimpleNamespace(set_offset=lambda _: None),
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)
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@pytest.mark.parametrize("live_enabled, expected", [(False, RACK_DELAY + OFFSET), (True, LIVE_DELAY)])
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def test_angle_cars_honour_the_self_tuning_toggle(params, live_enabled, expected):
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params.put_bool("IQLiveSteerDelay", live_enabled)
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daemon = _daemon(params, car.CarParams.SteerControlType.angle)
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InferenceDaemon._refresh_tunables(daemon, 0)
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assert daemon._runtime.lat_delay == pytest.approx(expected)
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def test_angle_cars_never_plan_against_the_live_estimate_when_disabled(params):
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params.put_bool("IQLiveSteerDelay", False)
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daemon = _daemon(params, car.CarParams.SteerControlType.angle)
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InferenceDaemon._refresh_tunables(daemon, 0)
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assert daemon._runtime.lat_delay != pytest.approx(LIVE_DELAY)
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@pytest.mark.parametrize("live_enabled", [True, False])
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def test_torque_cars_keep_the_live_estimate(params, live_enabled):
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params.put_bool("IQLiveSteerDelay", live_enabled)
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daemon = _daemon(params, car.CarParams.SteerControlType.torque)
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InferenceDaemon._refresh_tunables(daemon, 0)
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assert daemon._runtime.lat_delay == pytest.approx(LIVE_DELAY)
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def test_refresh_is_throttled_to_every_sixtieth_tick(params):
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params.put_bool("IQLiveSteerDelay", False)
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daemon = _daemon(params, car.CarParams.SteerControlType.angle)
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InferenceDaemon._refresh_tunables(daemon, 1)
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assert daemon._runtime.lat_delay is None
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InferenceDaemon._refresh_tunables(daemon, 60)
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assert daemon._runtime.lat_delay == pytest.approx(RACK_DELAY + OFFSET)
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