fix the tests

selfdrive/controls/tests/test_cruise_speed.py

@@ -5,7 +5,6 @@ import unittest
 
 from parameterized import parameterized_class
 from cereal import log
-from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -15,7 +14,7 @@ ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
-def run_cruise_simulation(cruise, e2e, t_end=20.):
+def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
   man = Maneuver(
     '',
     duration=t_end,
@@ -26,6 +25,7 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
     prob_lead_values=[0.0],
     breakpoints=[0.],
     e2e=e2e,
+    personality=personality,
   )
   valid, output = man.evaluate()
   assert valid
@@ -38,12 +38,10 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
                       [5,35])) # speed
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
-    params = Params()
-    params.put("LongitudinalPersonality", str(self.personality))
     print(f'Testing {self.speed} m/s')
     cruise_speed = float(self.speed)
 
-    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e)
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
     self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
 
 

selfdrive/controls/tests/test_following_distance.py

@@ -3,14 +3,13 @@ import unittest
 import itertools
 from parameterized import parameterized_class
 
-from openpilot.common.params import Params
 from cereal import log
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
-def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
+def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
   man = Maneuver(
     '',
     duration=t_end,
@@ -20,6 +19,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
     speed_lead_values=[v_lead],
     breakpoints=[0.],
     e2e=e2e,
+    personality=personality,
   )
   valid, output = man.evaluate()
   assert valid
@@ -34,10 +34,8 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
                       [0,10,35])) # speed
 class TestFollowingDistance(unittest.TestCase):
   def test_following_distance(self):
-    params = Params()
-    params.put("LongitudinalPersonality", str(self.personality))
     v_lead = float(self.speed)
-    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e)
+    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
     correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
     err_ratio = 0.2 if self.e2e else 0.1
     self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))

selfdrive/test/longitudinal_maneuvers/maneuver.py

@@ -19,6 +19,7 @@ class Maneuver:
     self.ensure_start = kwargs.get("ensure_start", False)
     self.enabled = kwargs.get("enabled", True)
     self.e2e = kwargs.get("e2e", False)
+    self.personality = kwargs.get("personality", 0)
     self.force_decel = kwargs.get("force_decel", False)
 
     self.duration = duration
@@ -33,6 +34,7 @@ class Maneuver:
       only_lead2=self.only_lead2,
       only_radar=self.only_radar,
       e2e=self.e2e,
+      personality=self.personality,
       force_decel=self.force_decel,
     )
 

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -15,7 +15,7 @@ class Plant:
   messaging_initialized = False
 
   def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
-               enabled=True, only_lead2=False, only_radar=False, e2e=False, force_decel=False):
+               enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0, force_decel=False):
     self.rate = 1. / DT_MDL
 
     if not Plant.messaging_initialized:
@@ -39,6 +39,7 @@ class Plant:
     self.only_lead2 = only_lead2
     self.only_radar = only_radar
     self.e2e = e2e
+    self.personality = personality
     self.force_decel = force_decel
 
     self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
@@ -112,6 +113,7 @@ class Plant:
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
     control.controlsState.vCruise = float(v_cruise * 3.6)
     control.controlsState.experimentalMode = self.e2e
+    control.controlsState.personality = self.personality
     control.controlsState.forceDecel = self.force_decel
     car_state.carState.vEgo = float(self.speed)
     car_state.carState.standstill = self.speed < 0.01