IQ.Pilot Release Commit @ d23c019

selfdrive/monitoring/test_dmonitoringd.py

@@ -0,0 +1,61 @@
+from types import SimpleNamespace
+
+import pytest
+
+from cereal import log
+from openpilot.selfdrive.monitoring.dmonitoringd import create_driver_monitoring, get_dm_inputs, use_legacy_dm
+from openpilot.selfdrive.monitoring.legacy_policy import DriverMonitoring as LegacyDriverMonitoring
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring as UpstreamDriverMonitoring
+
+
+@pytest.mark.parametrize("device_type, expected_type", [
+  ("mici", LegacyDriverMonitoring),
+  ("tici", UpstreamDriverMonitoring),
+  ("tizi", UpstreamDriverMonitoring),
+])
+def test_policy_selection(device_type, expected_type):
+  assert use_legacy_dm(device_type) == (device_type == "mici")
+  assert isinstance(create_driver_monitoring(device_type, False, False), expected_type)
+
+
+def test_mici_uses_legacy_thresholds():
+  dm = create_driver_monitoring("mici", False, False)
+
+  assert dm.settings._DISTRACTED_TIME == 11.
+  assert dm.settings._AWARENESS_TIME == 30.
+  assert dm.settings._PHONE_THRESH == 0.75
+
+
+@pytest.mark.parametrize("enabled, lat_active, expected", [
+  (False, False, False),
+  (True, False, True),
+  (False, True, True),
+  (True, True, True),
+])
+def test_iq_enabled_adapter(enabled, lat_active, expected):
+  sm = {
+    'driverStateV2': object(),
+    'liveCalibration': object(),
+    'carState': object(),
+    'selfdriveState': SimpleNamespace(enabled=enabled),
+    'modelV2': object(),
+    'carControl': SimpleNamespace(latActive=lat_active),
+  }
+
+  assert get_dm_inputs(sm)['selfdriveState'].enabled == expected
+
+
+def test_legacy_policy_packet_uses_shared_schema():
+  dm = create_driver_monitoring("mici", False, False)
+  dm.awareness = 0.
+  dm.terminal_alert_cnt = 2
+  dm.terminal_time = dm.settings._MAX_TERMINAL_DURATION
+  dm.too_distracted = True
+
+  state = dm.get_state_packet().driverMonitoringState
+
+  assert state.lockout
+  assert state.alert3Count == 2
+  assert state.noResponseCount == 1
+  assert state.noResponseForceDecel
+  assert state.alertLevel == log.DriverMonitoringState.AlertLevel.three