Release 260111

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -0,0 +1,47 @@
+from parameterized import parameterized
+
+from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.vehicle_model import VehicleModel
+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.locationd.helpers import Pose
+from openpilot.common.mock.generators import generate_livePose
+
+
+class TestLatControl:
+
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
+  def test_saturation(self, car_name, controller):
+    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CI = CarInterface(CP, CarController, CarState)
+    VM = VehicleModel(CP)
+
+    controller = controller(CP.as_reader(), CI)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    CS.steeringPressed = False
+
+    params = log.LiveParametersData.new_message()
+
+    lp = generate_livePose()
+    pose = Pose.from_live_pose(lp.livePose)
+
+    # Saturate for curvature limited and controller limited
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+    assert lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
+    assert not lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
+    assert lac_log.saturated