From 06a879d0a231ee746890cd68202bdece9b09d9b6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Aug 2024 20:23:59 -0700 Subject: [PATCH] fix test_models --- selfdrive/car/tests/test_models.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index f57def0362..3e5a545df4 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,4 +1,6 @@ import capnp +import copy +import dataclasses import os import importlib import pytest @@ -13,6 +15,7 @@ from cereal import messaging, log, car from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint +from openpilot.selfdrive.car.data_structures import CarParams from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags @@ -29,7 +32,7 @@ from panda.tests.libpanda import libpanda_py EventName = car.CarEvent.EventName PandaType = log.PandaState.PandaType -SafetyModel = car.CarParams.SafetyModel +SafetyModel = CarParams.SafetyModel NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) @@ -181,7 +184,7 @@ class TestCarModelBase(unittest.TestCase): del cls.can_msgs def setUp(self): - self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) + self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState) assert self.CI Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) @@ -189,7 +192,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: check safetyModel is in release panda build self.safety = libpanda_py.libpanda - cfg = self.CP.safetyConfigs[-1] + cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1])) set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam) self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}") self.safety.init_tests() @@ -201,7 +204,7 @@ class TestCarModelBase(unittest.TestCase): # make sure car params are within a valid range self.assertGreater(self.CP.mass, 1) - if self.CP.steerControlType != car.CarParams.SteerControlType.angle: + if self.CP.steerControlType != CarParams.SteerControlType.angle: tuning = self.CP.lateralTuning.which() if tuning == 'pid': self.assertTrue(len(self.CP.lateralTuning.pid.kpV))