IQ.Pilot Release Commit @ bec7652

2026-08-22 23:42:41 -05:00
commit 58039e647c
4603 changed files with 1236178 additions and 0 deletions
--- a/iqpilot/system/hardware/tests/test_power_monitoring.py
+++ b/iqpilot/system/hardware/tests/test_power_monitoring.py
@@ -0,0 +1,323 @@
+import pytest
+
+from iqpilot.common.params import Params
+from iqpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
+  CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S, \
+  VBATT_HARD_SHUTDOWN, LOW_POWER_ENTRY_TIME_S
+
+# Create fake time
+ssb = 0.
+def mock_time_monotonic():
+  global ssb
+  ssb += 1.
+  return ssb
+
+TEST_DURATION_S = 50
+GOOD_VOLTAGE = 12 * 1e3
+VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
+
+def pm_patch(mocker, name, value, constant=False):
+  if constant:
+    mocker.patch(f"iqpilot.system.hardware.power_monitoring.{name}", value)
+  else:
+    mocker.patch(f"iqpilot.system.hardware.power_monitoring.{name}", return_value=value)
+
+
+@pytest.fixture(autouse=True)
+def mock_time(mocker):
+  mocker.patch("time.monotonic", mock_time_monotonic)
+
+
+class TestPowerMonitoring:
+  def setup_method(self):
+    self.params = Params()
+
+  # Test to see that it doesn't do anything when pandaState is None
+  def test_panda_state_present(self):
+    pm = PowerMonitoring()
+    for _ in range(10):
+      pm.calculate(None, None)
+    assert pm.get_power_used() == 0
+    assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10)
+
+  # Test to see that it doesn't integrate offroad when ignition is True
+  def test_offroad_ignition(self):
+    pm = PowerMonitoring()
+    for _ in range(10):
+      pm.calculate(GOOD_VOLTAGE, True)
+    assert pm.get_power_used() == 0
+
+  # Test to see that it integrates with discharging battery
+  def test_offroad_integration_discharging(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, False)
+    expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
+    assert abs(pm.get_power_used() - expected_power_usage) < 10
+
+  # Test to check positive integration of car_battery_capacity
+  def test_car_battery_integration_onroad(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = 0
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, True)
+    expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
+    assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10
+
+  # Test to check positive integration upper limit
+  def test_car_battery_integration_upper_limit(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, True)
+    estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
+    assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10
+
+  # Test to check negative integration of car_battery_capacity
+  def test_car_battery_integration_offroad(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, False)
+    expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
+    assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10
+
+  # Test to check negative integration lower limit
+  def test_car_battery_integration_lower_limit(self, mocker):
+    POWER_DRAW = 4
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = 1000
+    for _ in range(TEST_DURATION_S + 1):
+      pm.calculate(GOOD_VOLTAGE, False)
+    estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
+    assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10
+
+  # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
+  def test_max_time_offroad(self, mocker):
+    MOCKED_MAX_OFFROAD_TIME = 3600
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    pm_patch(mocker, "MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True)
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    start_time = ssb
+    ignition = False
+    while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
+      pm.calculate(GOOD_VOLTAGE, ignition)
+      if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
+        assert not pm.should_shutdown(ignition, True, start_time, False)
+    assert pm.should_shutdown(ignition, True, start_time, False)
+
+  def test_car_voltage(self, mocker):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    TEST_TIME = 350
+    VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
+    pm_patch(mocker, "VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True)
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    ignition = False
+    start_time = ssb
+    for i in range(TEST_TIME):
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      if i % 10 == 0:
+        assert pm.should_shutdown(ignition, True, start_time, True) == \
+                          (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and \
+                          (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and \
+                            (ssb - start_time) > DELAY_SHUTDOWN_TIME_S)
+    assert pm.should_shutdown(ignition, True, start_time, True)
+
+  # Test to check policy of not stopping charging when DisablePowerDown is set
+  def test_disable_power_down(self, mocker):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    TEST_TIME = 100
+    self.params.put_bool("DisablePowerDown", True)
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    ignition = False
+    for i in range(TEST_TIME):
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      if i % 10 == 0:
+        assert not pm.should_shutdown(ignition, True, ssb, False)
+    assert not pm.should_shutdown(ignition, True, ssb, False)
+
+  # Test to check policy of not stopping charging when ignition
+  def test_ignition(self, mocker):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    TEST_TIME = 100
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+    ignition = True
+    for i in range(TEST_TIME):
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      if i % 10 == 0:
+        assert not pm.should_shutdown(ignition, True, ssb, False)
+    assert not pm.should_shutdown(ignition, True, ssb, False)
+
+  # Test to check policy of not stopping charging when harness is not connected
+  def test_harness_connection(self, mocker):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    TEST_TIME = 100
+    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+
+    ignition = False
+    for i in range(TEST_TIME):
+      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+      if i % 10 == 0:
+        assert not pm.should_shutdown(ignition, False, ssb, False)
+    assert not pm.should_shutdown(ignition, False, ssb, False)
+
+  def test_delay_shutdown_time(self):
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = 0
+    ignition = False
+    in_car = True
+    offroad_timestamp = ssb
+    started_seen = True
+    pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+
+    while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
+      assert not pm.should_shutdown(ignition, in_car,
+                                          offroad_timestamp,
+                                          started_seen), \
+                       f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+    assert pm.should_shutdown(ignition, in_car,
+                                       offroad_timestamp,
+                                       started_seen), \
+                    f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+
+  @pytest.mark.parametrize(
+    "max_time_offroad, offroad_time_min, expected_result",
+    [
+      # No max time set – fallback to default (30 hours)
+      (None, 0, False),
+      (None, MAX_TIME_OFFROAD_S + 1, True),  # exceeds 30h (1800+ mins)
+
+      # Valid max time values (in minutes)
+      (60, 59, False),  # under limit
+      (60, 120, True),  # over limit
+      (10, 8, False),  # under limit
+      (10, 11, True),  # over limit
+
+      # Edge case: max time is zero → no limit enforced
+      (0, 0, False),
+      (0, 400, False),
+
+      # Invalid max time formats or negative values → fallback to 30 hours
+      (-100, 100, False),  # should fallback to 30h
+      (-1, MAX_TIME_OFFROAD_S + 1, True),  # should fallback to 30h, and exceed it
+    ]
+  )
+  def test_max_time_offroad_exceeded(self, max_time_offroad, offroad_time_min, expected_result):
+    # Set the parameter if provided
+    if max_time_offroad is not None:
+      self.params.put("MaxTimeOffroad", max_time_offroad)
+
+    # Convert offroad time from minutes to seconds
+    offroad_time_s = offroad_time_min * 60
+
+    pm = PowerMonitoring()
+    result = pm.max_time_offroad_exceeded(offroad_time_s)
+
+    assert result == expected_result
+
+  # FastSleep must not shut down on the empty bookkeeping model while voltage is healthy
+  def test_fast_sleep_ignores_battery_capacity_model(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    self.params.put("MaxTimeOffroad", 0)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+      pm = PowerMonitoring()
+      pm.car_battery_capacity_uWh = 0
+      start_time = ssb
+      for _ in range(DELAY_SHUTDOWN_TIME_S + 100):
+        pm.calculate(GOOD_VOLTAGE, False)
+      assert not pm.should_shutdown(False, True, start_time, True)
+    finally:
+      self.params.put_bool("FastSleep", False)
+
+  # FastSleep still shuts down below the hard voltage floor
+  def test_fast_sleep_hard_voltage_floor(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+      pm = PowerMonitoring()
+      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+      start_time = ssb
+      for _ in range(DELAY_SHUTDOWN_TIME_S + 100):
+        pm.calculate((VBATT_HARD_SHUTDOWN - 0.5) * 1e3, False)
+      assert pm.should_shutdown(False, True, start_time, True)
+    finally:
+      self.params.put_bool("FastSleep", False)
+
+  def test_fast_sleep_low_power_entry(self, mocker):
+    self.params.put_bool("FastSleep", True)
+    try:
+      pm_patch(mocker, "HARDWARE.get_current_power_draw", 0)
+
+      # parked with the screen idled off: time-based entry at healthy voltage
+      pm = PowerMonitoring()
+      start_time = ssb
+      for _ in range(LOW_POWER_ENTRY_TIME_S + 10):
+        pm.calculate(GOOD_VOLTAGE, False)
+      assert pm.should_enter_low_power(False, True, start_time, screen_off=True)
+      assert not pm.should_enter_low_power(False, True, start_time, screen_off=False)
+      assert not pm.should_enter_low_power(True, True, start_time, screen_off=True)
+      assert not pm.should_enter_low_power(False, False, start_time, screen_off=True)
+
+      # sagging battery: voltage entry regardless of screen state
+      pm = PowerMonitoring()
+      start_time = ssb
+      for _ in range(100):
+        pm.calculate((VBATT_HARD_SHUTDOWN + 0.1) * 1e3, False)
+      assert pm.should_enter_low_power(False, True, start_time, screen_off=False)
+
+      self.params.put_bool("FastSleep", False)
+      assert not pm.should_enter_low_power(False, True, start_time, screen_off=True)
+    finally:
+      self.params.put_bool("FastSleep", False)
+
+  def test_negative_charging_interval_is_rejected(self, mocker):
+    exception = mocker.patch("iqpilot.system.hardware.power_monitoring.cloudlog.exception")
+    pm = PowerMonitoring()
+    pm.last_measurement_time = ssb + 100
+    capacity = pm.car_battery_capacity_uWh
+    pm.calculate(GOOD_VOLTAGE, True)
+    assert pm.car_battery_capacity_uWh == capacity
+    exception.assert_called_once_with("Power monitoring calculation failed")
+
+  def test_negative_discharge_interval_is_rejected(self, mocker):
+    exception = mocker.patch("iqpilot.system.hardware.power_monitoring.cloudlog.exception")
+    pm = PowerMonitoring()
+    pm.last_measurement_time = ssb + 100
+    capacity = pm.car_battery_capacity_uWh
+    pm._perform_integration(ssb, 4.0)
+    assert pm.car_battery_capacity_uWh == capacity
+    assert pm.power_used_uWh == 0
+    exception.assert_called_once_with("Integration failed")
+
+  def test_max_time_offroad_uses_default_when_params_fail(self):
+    class UnavailableParams:
+      def get(self, key):
+        raise RuntimeError(key)
+
+    pm = PowerMonitoring()
+    pm.params = UnavailableParams()
+    assert not pm.max_time_offroad_exceeded(MAX_TIME_OFFROAD_S - 1)
+    assert pm.max_time_offroad_exceeded(MAX_TIME_OFFROAD_S)
+
+  def test_shutdown_requires_offroad_timestamp(self):
+    assert not PowerMonitoring().should_shutdown(False, True, None, True)