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so picky

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rav4kumar
2025-10-08 22:34:23 -07:00
parent d3fae889c4
commit 17d64d3f3b
1 changed files with 5 additions and 1 deletions
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6
sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
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@@ -5,6 +5,8 @@ from openpilot.common.params import Params
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
class TurnDirection:
@@ -107,7 +109,9 @@ def set_lane_turn_params():
])
def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
dh = DesireHelper()
relc = RoadEdgeLaneChangeController(dh)
relc.set_enabled(True)
dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
for _ in range(10):
dh.update(carstate, lateral_active, lane_change_prob)
dh.update(carstate, lateral_active, lane_change_prob, left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
assert dh.desire == expected_desire # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers