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test models: check steering disengage matches for Tesla (#35107)

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test models: check steering disengage matches for tesla
This commit is contained in:
Shane Smiskol
2025-05-02 20:23:30 -07:00
committed by GitHub
parent e1d2360b8c
commit a1ec8c6bfe
1 changed files with 5 additions and 0 deletions
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selfdrive/car/tests/test_models.py
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@@ -330,6 +330,7 @@ class TestCarModelBase(unittest.TestCase):
prev_panda_gas = self.safety.get_gas_pressed_prev()
prev_panda_brake = self.safety.get_brake_pressed_prev()
prev_panda_regen_braking = self.safety.get_regen_braking_prev()
prev_panda_steering_disengage = self.safety.get_steering_disengage_prev()
prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min()
prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max()
@@ -357,6 +358,9 @@ class TestCarModelBase(unittest.TestCase):
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
@@ -432,6 +436,7 @@ class TestCarModelBase(unittest.TestCase):
brake_pressed = False
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
if self.CP.pcmCruise:
# On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.