diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index b3771b48c2..151de0b844 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -9,13 +9,13 @@ import importlib from parameterized import parameterized from cereal import car, messaging +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.fw_versions import FW_VERSIONS from openpilot.selfdrive.car.interfaces import get_interface_attr -from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) @@ -23,6 +23,14 @@ ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '20')) +class FakeParams(Params): + def put(self, key, val): + pass + + def put_nonblocking(self, key, val): + pass + + def get_fuzzy_car_interface_args(draw: DrawType) -> dict: # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800), @@ -108,8 +116,11 @@ class TestCarInterfaces(unittest.TestCase): now_nanos += DT_CTRL * 1e9 # 10ms # Run controlsd step to test lat and long controllers - controlsd = Controls(CI=car_interface) - controlsd.initialized = True + with patch('openpilot.common.params.Params', FakeParams): + from openpilot.selfdrive.controls.controlsd import Controls + controlsd = Controls(CI=car_interface) + controlsd.initialized = True + cs_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarState, real_floats=True, ignore_deprecated=True) CS = car.CarState.new_message(**cs_msg) with (patch('openpilot.selfdrive.car.interfaces.CarInterfaceBase.update', lambda *args, **kwargs: CS),