From 7aaf0140b6d91d999f06a8922b1eef37ed7ca155 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 1 Jul 2026 20:26:43 -0400 Subject: [PATCH] no unittest oops --- .../mads/tests/test_mads_steering_mode.py | 39 +++++++++---------- 1 file changed, 19 insertions(+), 20 deletions(-) diff --git a/sunnypilot/mads/tests/test_mads_steering_mode.py b/sunnypilot/mads/tests/test_mads_steering_mode.py index 4849e3c612..8765324cfd 100644 --- a/sunnypilot/mads/tests/test_mads_steering_mode.py +++ b/sunnypilot/mads/tests/test_mads_steering_mode.py @@ -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