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FrogPilot Setup

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This commit is contained in:
FrogAi
2024-03-01 09:26:59 -07:00
parent 505ad1fbfe
commit 6c946fc97a
106 changed files with 2349 additions and 185 deletions
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20
selfdrive/car/tests/test_car_interfaces.py
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@@ -9,6 +9,7 @@ from parameterized import parameterized
from cereal import car, messaging
from openpilot.common.realtime import DT_CTRL
from openpilot.common.params import Params
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.car.fingerprints import all_known_cars
@@ -18,6 +19,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.controls.controlsd import Controls
from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
@@ -44,7 +46,6 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']]
return params
class TestCarInterfaces(unittest.TestCase):
# FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
# many generated examples to overrun when max_examples > ~20, don't use it
@@ -56,9 +57,11 @@ class TestCarInterfaces(unittest.TestCase):
CarInterface, CarController, CarState = interfaces[car_name]
args = get_fuzzy_car_interface_args(data.draw)
params = Params()
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
car_params = CarInterface.get_params(params, car_name, args['fingerprints'], args['car_fw'],
experimental_long=args['experimental_long'], docs=False)
car_interface = CarInterface(car_params, CarController, CarState)
assert car_params
assert car_interface
@@ -94,18 +97,19 @@ class TestCarInterfaces(unittest.TestCase):
# Run car interface
now_nanos = 0
CC = car.CarControl.new_message(**cc_msg)
controls = Controls(CI=car_interface)
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC, now_nanos)
car_interface.apply(CC, now_nanos)
car_interface.update(CC, [], controls.frogpilot_variables)
car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
now_nanos += DT_CTRL * 1e9 # 10 ms
CC = car.CarControl.new_message(**cc_msg)
CC.enabled = True
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC, now_nanos)
car_interface.apply(CC, now_nanos)
car_interface.update(CC, [], controls.frogpilot_variables)
car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
now_nanos += DT_CTRL * 1e9 # 10ms
# Test controller initialization