IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/controls/tests/test_steering_fault_recovery.py

@@ -0,0 +1,28 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from iqpilot.selfdrive.controls.steering_fault_recovery import STEER_FAULT_RECOVERY_FRAMES, SteeringFaultRecovery
+
+
+def test_steering_fault_recovery_starts_ready():
+  recovery = SteeringFaultRecovery()
+  assert recovery.update(False, False)
+
+
+def test_temporary_fault_requires_continuous_clear_interval():
+  recovery = SteeringFaultRecovery()
+  assert not recovery.update(True, False)
+  for _ in range(STEER_FAULT_RECOVERY_FRAMES - 1):
+    assert not recovery.update(False, False)
+  assert recovery.update(False, False)
+
+
+def test_repeated_fault_restarts_recovery_interval():
+  recovery = SteeringFaultRecovery()
+  assert not recovery.update(False, True)
+  for _ in range(STEER_FAULT_RECOVERY_FRAMES - 1):
+    assert not recovery.update(False, False)
+  assert not recovery.update(True, False)
+  for _ in range(STEER_FAULT_RECOVERY_FRAMES - 1):
+    assert not recovery.update(False, False)
+  assert recovery.update(False, False)