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