wip

selfdrive/controls/lib/tests/test_latcontrol.py

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+#!/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
+
+
+class TestLatControl(unittest.TestCase):
+
+  @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque),  (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()