From a1ec8c6bfe93d5af4a4236291bec1335a874ec24 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 May 2025 20:23:30 -0700 Subject: [PATCH] test models: check steering disengage matches for Tesla (#35107) test models: check steering disengage matches for tesla --- selfdrive/car/tests/test_models.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 53f2bb586d..0a4784aca8 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -330,6 +330,7 @@ class TestCarModelBase(unittest.TestCase): prev_panda_gas = self.safety.get_gas_pressed_prev() prev_panda_brake = self.safety.get_brake_pressed_prev() prev_panda_regen_braking = self.safety.get_regen_braking_prev() + prev_panda_steering_disengage = self.safety.get_steering_disengage_prev() prev_panda_vehicle_moving = self.safety.get_vehicle_moving() prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min() prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max() @@ -357,6 +358,9 @@ class TestCarModelBase(unittest.TestCase): if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) + if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage: + self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev()) + if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) @@ -432,6 +436,7 @@ class TestCarModelBase(unittest.TestCase): brake_pressed = False checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() + checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev() if self.CP.pcmCruise: # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.