From ccd8d5a5921653182b3794ba5cfbfc804eaabc1d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 7 Jun 2025 17:10:01 -0400 Subject: [PATCH] fix tests --- selfdrive/test/longitudinal_maneuvers/plant.py | 8 +++++++- .../speed_limit_controller.py | 2 +- .../speed_limit_controller/speed_limit_resolver.py | 13 +++++-------- 3 files changed, 13 insertions(+), 10 deletions(-) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index b8c6adb436..e466472432 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -67,6 +67,9 @@ class Plant: lp = messaging.new_message('liveParameters') car_control = messaging.new_message('carControl') model = messaging.new_message('modelV2') + car_state_sp = messaging.new_message('carStateSP') + live_map_data_sp = messaging.new_message('liveMapDataSP') + gps_data = messaging.new_message('gpsLocation') a_lead = (v_lead - self.v_lead_prev)/self.ts self.v_lead_prev = v_lead @@ -133,7 +136,10 @@ class Plant: 'controlsState': control.controlsState, 'selfdriveState': ss.selfdriveState, 'liveParameters': lp.liveParameters, - 'modelV2': model.modelV2} + 'modelV2': model.modelV2, + 'carStateSP': car_state_sp.carStateSP, + 'liveMapDataSP': live_map_data_sp.liveMapDataSP, + 'gpsLocation': gps_data.gpsLocation} self.planner.update(sm) self.acceleration = self.planner.output_a_target self.speed = self.speed + self.acceleration * self.ts diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py index 9a28611259..a714b4ab36 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py @@ -332,7 +332,7 @@ class SpeedLimitController: self._op_engaged = enabled and self._CP.openpilotLongitudinalControl self._v_ego = v_ego self._a_ego = a_ego - self._v_cruise_setpoint = v_cruise_setpoint + self._v_cruise_setpoint = v_cruise_setpoint if not np.isnan(v_cruise_setpoint) else 0.0 self._gas_pressed = _car_state.gasPressed self._current_time = time.monotonic() diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py index 18cf0aab7c..98452699b3 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py @@ -51,16 +51,13 @@ class SpeedLimitResolver: self._get_from_map_data(sm) def _get_from_car_state(self, sm: messaging.SubMaster) -> None: - if sm.updated['carStateSP']: - self._reset_limit_sources(Source.car_state) - self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit - self._distance_solutions[Source.car_state] = 0. + self._reset_limit_sources(Source.car_state) + self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit + self._distance_solutions[Source.car_state] = 0. def _get_from_map_data(self, sm: messaging.SubMaster) -> None: - # Load limits from map_data - if sm.updated['liveMapDataSP']: - self._reset_limit_sources(Source.map_data) - self._process_map_data(sm) + self._reset_limit_sources(Source.map_data) + self._process_map_data(sm) def _process_map_data(self, sm: messaging.SubMaster) -> None: gps_data = sm[self._gps_location_service]