Closed-loop HIL test system: simulator gateway, test runner, and scenario test folders#18
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toprakcelikel wants to merge 7 commits into
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Closed-loop HIL test system: simulator gateway, test runner, and scenario test folders#18toprakcelikel wants to merge 7 commits into
toprakcelikel wants to merge 7 commits into
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Steering (01-10), throttle (11-18), brake (19-25), and combined driving (26-30) test scripts with embedded # assert lines for tools/test_runner.py.
The closed-loop simulated speed (speed_mmPs, published on 0x4F0) was computed but never logged, so throttle/brake tests asserting on sim_speed_cmPs errored with NameError. Emit it as cm/s to match cmd_speed_cmPs units.
…port - test_runner.py: drive to a known baseline (centered + stopped + DBW alive) before each CSV's clock starts, so tests are independent regardless of order. - 28_serpentine.csv: move the full-reversal assertions to the physically-required slew time (a 400-tenth reversal needs ~2000ms). - New corner-case tests 31-38: steep-turn min-time, edge-case break (found the brake bug), negative speed, whipsaw tracking, turn-under-braking, overflow speed, throttle+brake conflict, sub-deadband hold. - run_all_tests.py batch runner; DBW_corner_case_test_report.md summary.
… corner cases Adds 16 corner-case CSVs (39-54): - comms-loss watchdog + watchdog recovery - malformed-frame and wrong-CAN-ID rejection - boot safe state, soak/stability, command-flood stress - throttle step response, brake release/re-accelerate - speed-burst reversal/rapid-toggle, steering step response - mode-gating checks (49-51) documenting that the 0x350 mode byte is informational (DBW arbitrates its own auto-mode)
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Summary
Adds a hardware-in-the-loop (HIL) test harness for the DBW: CAN command
sequences are replayed against a simulated trike and checked with timed
assertions, so control-loop behavior can be regression-tested off-vehicle.
What's included
Non_grapic_simulator) - models the trike(steering slew, throttle ramp, braking, heading/position) and bridges CAN
commands <-> DBW. Emits
sim_speed_cmPsin the LOG line so throttle/braketests can assert on simulated speed.
tools/) - replays a CSV of timed CAN commands, resets toa known baseline before each test, evaluates timed assertions against the
LOG stream, and reports pass/fail. Includes a batch runner.
tests/) - each pairs a test CSV with the runlogs captured from the HIL runs:
WireTest_*,MotorTurn,MoveMotor).Test CSV format
time_ms, CANID, nbytes, speed_cmPs, brake, mode, angle_tenths, with# assert t=<ms>: <condition>lines; the runner checks LOG fields such asactual_angle_tenthsandsim_speed_cmPs.Notes
.txt) documenting theobserved pass/fail behavior.
(brake-over-throttle, wider steering deadband, USB-loop-freeze fix).