From 3ff90573c786d693a5015675a868c2b638af6b2c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 10 Sep 2024 15:20:34 -0700
Subject: [PATCH] Test all torque cars' lateral limits (#1232)

* test more models!

* Impreza 2020: reach max in ~0.8s instead of ~0.6

* leave todo for gen2, not safety critical since jerk is under threshold (1000/40*2/100=0.5s)

* fix honda
---
 opendbc/car/honda/carcontroller.py       | 9 ++-------
 opendbc/car/honda/values.py              | 4 ++++
 opendbc/car/subaru/values.py             | 2 ++
 opendbc/car/tests/test_lateral_limits.py | 2 +-
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/opendbc/car/honda/carcontroller.py b/opendbc/car/honda/carcontroller.py
index 20358c67fb..85199a2b91 100644
--- a/opendbc/car/honda/carcontroller.py
+++ b/opendbc/car/honda/carcontroller.py
@@ -97,12 +97,6 @@ def process_hud_alert(hud_alert):
                       "lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])
 
 
-def rate_limit_steer(new_steer, last_steer):
-  # TODO just hardcoded ramp to min/max in 0.33s for all Honda
-  MAX_DELTA = 3 * DT_CTRL
-  return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA)
-
-
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP):
     super().__init__(dbc_name, CP)
@@ -138,7 +132,8 @@ def update(self, CC, CS, now_nanos):
       gas, brake = 0.0, 0.0
 
     # *** rate limit steer ***
-    limited_steer = rate_limit_steer(actuators.steer, self.last_steer)
+    limited_steer = rate_limit(actuators.steer, self.last_steer, -self.params.STEER_DELTA_DOWN * DT_CTRL,
+                               self.params.STEER_DELTA_UP * DT_CTRL)
     self.last_steer = limited_steer
 
     # *** apply brake hysteresis ***
diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index 70ccecb0ed..1200f69cca 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -35,6 +35,10 @@ class CarControllerParams:
   BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
   BOSCH_GAS_LOOKUP_V = [0, 1600]
 
+  STEER_STEP = 1  # 100 Hz
+  STEER_DELTA_UP = 3  # min/max in 0.33s for all Honda
+  STEER_DELTA_DOWN = 3
+
   def __init__(self, CP):
     self.STEER_MAX = CP.lateralParams.torqueBP[-1]
     # mirror of list (assuming first item is zero) for interp of signed request values
diff --git a/opendbc/car/subaru/values.py b/opendbc/car/subaru/values.py
index 15b8a8b8ec..c7f93f9fae 100644
--- a/opendbc/car/subaru/values.py
+++ b/opendbc/car/subaru/values.py
@@ -20,10 +20,12 @@ def __init__(self, CP):
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
     if CP.flags & SubaruFlags.GLOBAL_GEN2:
+      # TODO: lower rate limits, this reaches min/max in 0.5s which negatively affects tuning
       self.STEER_MAX = 1000
       self.STEER_DELTA_UP = 40
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
+      self.STEER_DELTA_UP = 35
       self.STEER_MAX = 1439
     else:
       self.STEER_MAX = 2047
diff --git a/opendbc/car/tests/test_lateral_limits.py b/opendbc/car/tests/test_lateral_limits.py
index 585289968d..2a0b7eb90a 100755
--- a/opendbc/car/tests/test_lateral_limits.py
+++ b/opendbc/car/tests/test_lateral_limits.py
@@ -35,7 +35,7 @@ def setup_class(cls):
       pytest.skip("Platform is behind dashcamOnly")
 
     # TODO: test all platforms
-    if CP.lateralTuning.which() != 'torque':
+    if CP.steerControlType != 'torque':
       pytest.skip()
 
     if CP.notCar: