#!/usr/bin/env python3
import unittest
from parameterized import parameterized
from cereal import car, log
from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.car.honda.values import CAR as HONDA
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
from openpilot.common.mock.generators import generate_liveLocationKalman
[docs]
class TestLatControl(unittest.TestCase):
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)])
def test_saturation(self, car_name, controller):
CarInterface, CarController, CarState = interfaces[car_name]
CP = CarInterface.get_non_essential_params(car_name)
CI = CarInterface(CP, CarController, CarState)
VM = VehicleModel(CP)
controller = controller(CP, CI)
CS = car.CarState.new_message()
CS.vEgo = 30
CS.steeringPressed = False
params = log.LiveParametersData.new_message()
llk = generate_liveLocationKalman()
for _ in range(1000):
_, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk)
self.assertTrue(lac_log.saturated)
if __name__ == "__main__":
unittest.main()