From 3229aa2e9c5dfefe6acb827e829fd3f43215bdf1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 20 Aug 2024 15:41:30 -0700
Subject: [PATCH] add test_lateral_limits.py

---
 opendbc/car/tests/test_lateral_limits.py | 98 ++++++++++++++++++++++++
 1 file changed, 98 insertions(+)
 create mode 100755 opendbc/car/tests/test_lateral_limits.py

diff --git a/opendbc/car/tests/test_lateral_limits.py b/opendbc/car/tests/test_lateral_limits.py
new file mode 100755
index 0000000000..87c7a5e256
--- /dev/null
+++ b/opendbc/car/tests/test_lateral_limits.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+from collections import defaultdict
+import importlib
+from parameterized import parameterized_class
+import pytest
+import sys
+
+from opendbc.car import DT_CTRL
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.fingerprints import all_known_cars
+from opendbc.car.interfaces import get_torque_params
+
+CAR_MODELS = all_known_cars()
+
+# ISO 11270 - allowed up jerk is strictly lower than recommended limits
+MAX_LAT_ACCEL = 3.0              # m/s^2
+MAX_LAT_JERK_UP = 2.5            # m/s^3
+MAX_LAT_JERK_DOWN = 5.0          # m/s^3
+MAX_LAT_JERK_UP_TOLERANCE = 0.5  # m/s^3
+
+# jerk is measured over half a second
+JERK_MEAS_T = 0.5
+
+
+@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
+class TestLateralLimits:
+  car_model: str
+
+  @classmethod
+  def setup_class(cls):
+    CarInterface, _, _ = interfaces[cls.car_model]
+    CP = CarInterface.get_non_essential_params(cls.car_model)
+
+    if CP.dashcamOnly:
+      pytest.skip("Platform is behind dashcamOnly")
+
+    # TODO: test all platforms
+    if CP.lateralTuning.which() != 'torque':
+      pytest.skip()
+
+    if CP.notCar:
+      pytest.skip()
+
+    CarControllerParams = importlib.import_module(f'opendbc.car.{CP.carName}.values').CarControllerParams
+    cls.control_params = CarControllerParams(CP)
+    cls.torque_params = get_torque_params()[cls.car_model]
+
+  @staticmethod
+  def calculate_0_5s_jerk(control_params, torque_params):
+    steer_step = control_params.STEER_STEP
+    max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
+
+    # Steer up/down delta per 10ms frame, in percentage of max torque
+    steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step
+    steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step
+
+    # Lateral acceleration reached in 0.5 seconds, clipping to max torque
+    accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
+    accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
+
+    # Convert to m/s^3
+    return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T
+
+  def test_jerk_limits(self):
+    up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
+    assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE
+    assert down_jerk <= MAX_LAT_JERK_DOWN
+
+  def test_max_lateral_accel(self):
+    assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL
+
+
+class LatAccelReport:
+  car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
+
+  def pytest_sessionfinish(self):
+    print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
+
+    max_car_model_len = max([len(car_model) for car_model in self.car_model_jerks])
+    for car_model, _jerks in sorted(self.car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
+      violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
+                  _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
+      violation_str = " - VIOLATION" if violation else ""
+
+      print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " +
+            f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
+
+  @pytest.fixture(scope="class", autouse=True)
+  def class_setup(self, request):
+    yield
+    cls = request.cls
+    if hasattr(cls, "control_params"):
+      up_jerk, down_jerk = TestLateralLimits.calculate_0_5s_jerk(cls.control_params, cls.torque_params)
+      self.car_model_jerks[cls.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
+
+
+if __name__ == '__main__':
+  sys.exit(pytest.main([__file__, '-n0', '--no-summary'], plugins=[LatAccelReport()]))  # noqa: TID251