From 17d64d3f3bef5a7b27cdfcd7e17e8f4ffc7f2cf2 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Wed, 8 Oct 2025 22:34:23 -0700 Subject: [PATCH] so picky --- .../selfdrive/controls/lib/tests/test_lane_turn_desire.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py index 5633ed6ef..c25061977 100644 --- a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py +++ b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py @@ -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