From 979c96167d5ba2f07a7e0dee7c059c3a2ee4757b Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 22 Aug 2023 16:48:02 -0700
Subject: [PATCH] CI: enable missing tests (#29538)

---
 poetry.lock                                   | 23 ++++++++++++++++++-
 pyproject.toml                                |  1 +
 selfdrive/controls/lib/tests/__init__.py      |  0
 .../controls/lib/tests/test_latcontrol.py     |  5 +++-
 .../controls/lib/tests/test_vehicle_model.py  |  2 +-
 5 files changed, 28 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/controls/lib/tests/__init__.py

diff --git a/poetry.lock b/poetry.lock
index dca0c49b5..60e1de726 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -730,6 +730,27 @@ mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.2.0)", "types-Pill
 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
 test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
 
+[[package]]
+name = "control"
+version = "0.9.4"
+description = "Python Control Systems Library"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "control-0.9.4-py3-none-any.whl", hash = "sha256:ab68980abd8d35ae5015ffa090865cbbd926deea7e66d0b9a41cfd12577e63ff"},
+    {file = "control-0.9.4.tar.gz", hash = "sha256:0fa57d2216b7ac4e9339c09eab6827660318a641779335864feee940bd19c9ce"},
+]
+
+[package.dependencies]
+matplotlib = "*"
+numpy = "*"
+scipy = ">=1.3"
+
+[package.extras]
+cvxopt = ["cvxopt (>=1.2.0)"]
+slycot = ["slycot (>=0.4.0)"]
+test = ["pytest", "pytest-timeout"]
+
 [[package]]
 name = "coverage"
 version = "7.3.0"
@@ -4192,4 +4213,4 @@ multidict = ">=4.0"
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "39a9e8fd6df654b3f503f9186e75f1a48d726c876696ff64cec9b6f53cc2f22a"
+content-hash = "320aa5cc075d746403abb872211ebdaf55e9504face8dab8c9b270c71953675d"
diff --git a/pyproject.toml b/pyproject.toml
index dcce2505e..b5d03e9b4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -53,6 +53,7 @@ aiohttp = "*"
 aiortc = "*"
 casadi = "==3.6.3"
 cffi = "*"
+control = "*"
 crcmod = "*"
 cryptography = "*"
 Cython = "*"
diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/controls/lib/tests/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 4ff7ef7c9..cf2243d03 100755
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -12,6 +12,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from selfdrive.navd.tests.test_map_renderer import gen_llk
 
 
 class TestLatControl(unittest.TestCase):
@@ -27,13 +28,15 @@ class TestLatControl(unittest.TestCase):
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
+    CS.steeringPressed = False
 
     last_actuators = car.CarControl.Actuators.new_message()
 
     params = log.LiveParametersData.new_message()
 
+    llk = gen_llk()
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, True, 1, 0)
+      _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk)
 
     self.assertTrue(lac_log.saturated)
 
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index fc8ef2fb5..d016e8752 100755
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -38,7 +38,7 @@ class TestVehicleModel(unittest.TestCase):
 
           # Compute yaw rate using direct computations
           yr2 = self.VM.yaw_rate(sa, u, roll)
-          self.assertAlmostEqual(float(yr1), yr2)
+          self.assertAlmostEqual(float(yr1[0]), yr2)
 
   def test_syn_ss_sol_simulate(self):
     """Verifies that dyn_ss_sol matches a simulation"""