Test interfaces also in enabled state and fix a bug (#1213)

selfdrive/car/gm/carcontroller.py

@@ -96,7 +96,7 @@ class CarController():
     ### STEER ###
 
     if (frame % P.STEER_STEP) == 0:
-      lkas_enabled = enabled and not CS.steer_not_allowed and CS.out.vEgo > P.MIN_STEER_SPEED
+      lkas_enabled = enabled and not CS.steer_warning and CS.out.vEgo > P.MIN_STEER_SPEED
       if lkas_enabled:
         new_steer = actuators.steer * P.STEER_MAX
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)

selfdrive/car/tests/test_car_interfaces.py

@@ -34,6 +34,8 @@ class TestCarInterfaces(unittest.TestCase):
         CC = car.CarControl.new_message()
         car_interface.update(CC, [])
         car_interface.apply(CC)
+        CC.enabled = True
+        car_interface.apply(CC)
 
       # Test radar interface
       RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface