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no unittest oops

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This commit is contained in:
Jason Wen
2026-07-01 20:26:43 -04:00
parent f08d34612e
commit 7aaf0140b6
1 changed files with 19 additions and 20 deletions
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sunnypilot/mads/tests/test_mads_steering_mode.py
+19 -20
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@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
"""
import pytest
from unittest.mock import MagicMock
from cereal import log, custom
from opendbc.car import structs
@@ -32,15 +31,15 @@ def make_car_state(brake_pressed=False, regen_braking=False, standstill=False, v
return cs
def make_panda_state(controls_allowed_lateral=True):
ps = MagicMock()
def make_panda_state(mocker, controls_allowed_lateral=True):
ps = mocker.MagicMock()
ps.controlsAllowedLateral = controls_allowed_lateral
ps.safetyModel = SafetyModel.hyundai
return ps
def make_mads(mocker, steering_mode):
sd = MagicMock()
sd = mocker.MagicMock()
sd.CP = structs.CarParams()
sd.CP.brand = "hyundai"
sd.CP_SP = structs.CarParamsSP()
@@ -56,7 +55,7 @@ def make_mads(mocker, steering_mode):
sd.enabled_prev = False
sd.initialized = True
sd.CS_prev = make_car_state()
sd.sm = {'pandaStates': [make_panda_state()]}
sd.sm = {'pandaStates': [make_panda_state(mocker)]}
sd.state_machine = mocker.MagicMock()
mads = ModularAssistiveDrivingSystem(sd)
@@ -111,7 +110,7 @@ class TestPauseMode:
run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
assert mads.state_machine.state == State.paused
sd.sm['pandaStates'] = [make_panda_state(False)]
sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
assert mads.state_machine.state == State.paused
@@ -134,11 +133,11 @@ class TestPauseMode:
run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
assert mads.state_machine.state == State.paused
sd.sm['pandaStates'] = [make_panda_state(False)]
sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
assert mads.state_machine.state == State.paused
sd.sm['pandaStates'] = [make_panda_state(True)]
sd.sm['pandaStates'] = [make_panda_state(mocker, True)]
run_frames(mads, sd, make_car_state(standstill=True))
assert mads.state_machine.state == State.enabled
@@ -189,7 +188,7 @@ class TestLateralMismatchCounter:
mads.state_machine.state = State.paused
mads.enabled = True
mads.active = False
sd.sm['pandaStates'] = [make_panda_state(False)]
sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
assert mads.lateral_mismatch_counter == 0
@@ -198,7 +197,7 @@ class TestLateralMismatchCounter:
mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
mads.enabled = True
mads.active = True
sd.sm['pandaStates'] = [make_panda_state(False)]
sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
for _ in range(200):
mads.data_sample()
@@ -208,36 +207,36 @@ class TestLateralMismatchCounter:
# brand restrictions
class TestBrandSteeringModeRestrictions:
def test_rivian_forced_to_disengage(self):
def test_rivian_forced_to_disengage(self, mocker):
CP = structs.CarParams()
CP.brand = "rivian"
CP_SP = structs.CarParamsSP()
params = MagicMock()
params = mocker.MagicMock()
assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
params.get.assert_not_called()
def test_tesla_without_vehicle_bus_forced_to_disengage(self):
def test_tesla_without_vehicle_bus_forced_to_disengage(self, mocker):
CP = structs.CarParams()
CP.brand = "tesla"
CP_SP = structs.CarParamsSP()
CP_SP.flags = 0
params = MagicMock()
params = mocker.MagicMock()
assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
def test_tesla_with_vehicle_bus_uses_param(self):
def test_tesla_with_vehicle_bus_uses_param(self, mocker):
CP = structs.CarParams()
CP.brand = "tesla"
CP_SP = structs.CarParamsSP()
CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
params = MagicMock()
params.get = MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
params = mocker.MagicMock()
params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE
@pytest.mark.parametrize("brand", ["hyundai", "toyota", "honda", "gm"])
def test_other_brands_use_param(self, brand):
def test_other_brands_use_param(self, mocker, brand):
CP = structs.CarParams()
CP.brand = brand
CP_SP = structs.CarParamsSP()
params = MagicMock()
params.get = MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
params = mocker.MagicMock()
params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE