IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/common/tests/.gitignore

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+test_common

iqpilot/common/tests/test_file_helpers.py

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+import os
+from uuid import uuid4
+
+from iqpilot.common.utils import atomic_write
+
+
+class TestFileHelpers:
+  def run_atomic_write_func(self, atomic_write_func):
+    path = f"/tmp/tmp{uuid4()}"
+    with atomic_write_func(path) as f:
+      f.write("test")
+      assert not os.path.exists(path)
+
+    with open(path) as f:
+      assert f.read() == "test"
+    os.remove(path)
+
+  def test_atomic_write(self):
+    self.run_atomic_write_func(atomic_write)

iqpilot/common/tests/test_markdown.py

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+import os
+
+from iqpilot.common.basedir import BASEDIR
+from iqpilot.common.markdown import parse_markdown
+
+
+class TestMarkdown:
+  def test_all_release_notes(self):
+    with open(os.path.join(BASEDIR, "iqpilot", "docs", "CHANGELOG.md")) as f:
+      release_notes = f.read().split("\n\n")
+      assert len(release_notes) > 10
+
+      for rn in release_notes:
+        md = parse_markdown(rn)
+        assert len(md) > 0

iqpilot/common/tests/test_params.py

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+import pytest
+import datetime
+import os
+import threading
+import time
+import uuid
+
+from iqpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
+
+class TestParams:
+  def setup_method(self):
+    self.params = Params()
+
+  def test_params_put_and_get(self):
+    self.params.put("DongleId", "cb38263377b873ee")
+    assert self.params.get("DongleId") == "cb38263377b873ee"
+
+  def test_params_non_ascii(self):
+    st = b"\xe1\x90\xff"
+    self.params.put("CarParams", st)
+    assert self.params.get("CarParams") == st
+
+  def test_params_get_cleared_manager_start(self):
+    self.params.put("CarParams", b"test")
+    self.params.put("DongleId", "cb38263377b873ee")
+    assert self.params.get("CarParams") == b"test"
+
+    undefined_param = self.params.get_param_path(uuid.uuid4().hex)
+    with open(undefined_param, "w") as f:
+      f.write("test")
+    assert os.path.isfile(undefined_param)
+
+    self.params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
+    assert self.params.get("CarParams") is None
+    assert self.params.get("DongleId") is not None
+    assert not os.path.isfile(undefined_param)
+
+  def test_params_two_things(self):
+    self.params.put("DongleId", "bob")
+    self.params.put("AthenadPid", 123)
+    assert self.params.get("DongleId") == "bob"
+    assert self.params.get("AthenadPid") == 123
+
+  def test_params_get_block(self):
+    def _delayed_writer():
+      time.sleep(0.1)
+      self.params.put("CarParams", b"test")
+    threading.Thread(target=_delayed_writer).start()
+    assert self.params.get("CarParams") is None
+    assert self.params.get("CarParams", block=True) == b"test"
+
+  def test_params_unknown_key_fails(self):
+    with pytest.raises(UnknownKeyName):
+      self.params.get("swag")
+
+    with pytest.raises(UnknownKeyName):
+      self.params.get_bool("swag")
+
+    with pytest.raises(UnknownKeyName):
+      self.params.put("swag", "abc")
+
+    with pytest.raises(UnknownKeyName):
+      self.params.put_bool("swag", True)
+
+  def test_remove_not_there(self):
+    assert self.params.get("CarParams") is None
+    self.params.remove("CarParams")
+    assert self.params.get("CarParams") is None
+
+  def test_get_bool(self):
+    self.params.remove("IsMetric")
+    assert not self.params.get_bool("IsMetric")
+
+    self.params.put_bool("IsMetric", True)
+    assert self.params.get_bool("IsMetric")
+
+    self.params.put_bool("IsMetric", False)
+    assert not self.params.get_bool("IsMetric")
+
+    self.params.put("IsMetric", True)
+    assert self.params.get_bool("IsMetric")
+
+    self.params.put("IsMetric", False)
+    assert not self.params.get_bool("IsMetric")
+
+  def test_navigation_disabled_default(self):
+    self.params.remove("NavigationEnabled")
+    assert not self.params.get_bool("NavigationEnabled")
+
+  def test_put_non_blocking_with_get_block(self):
+    q = Params()
+    def _delayed_writer():
+      time.sleep(0.1)
+      Params().put_nonblocking("CarParams", b"test")
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"test"
+
+  def test_put_bool_non_blocking_with_get_block(self):
+    q = Params()
+    def _delayed_writer():
+      time.sleep(0.1)
+      Params().put_bool_nonblocking("CarParams", True)
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"1"
+
+  def test_params_all_keys(self):
+    keys = Params().all_keys()
+
+    # sanity checks
+    assert len(keys) > 20
+    assert len(keys) == len(set(keys))
+    assert b"CarParams" in keys
+
+  def test_params_default_value(self):
+    self.params.remove("LanguageSetting")
+    self.params.remove("LongitudinalPersonality")
+    self.params.remove("LiveParameters")
+
+    assert self.params.get("LanguageSetting") is None
+    assert self.params.get("LanguageSetting", return_default=False) is None
+    assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
+    assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
+    assert self.params.get("LiveParameters") is None
+    assert self.params.get("LiveParameters", return_default=True) is None
+
+  def test_params_get_type(self):
+    # json
+    self.params.put("ApiCache_FirehoseStats", {"a": 0})
+    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
+
+    # int
+    self.params.put("BootCount", 1441)
+    assert self.params.get("BootCount") == 1441
+
+    # bool
+    self.params.put("AdbEnabled", True)
+    assert self.params.get("AdbEnabled")
+    assert isinstance(self.params.get("AdbEnabled"), bool)
+
+    # time
+    now = datetime.datetime.now(datetime.UTC)
+    self.params.put("InstallDate", now)
+    assert self.params.get("InstallDate") == now

iqpilot/common/tests/test_realtime.py

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+#!/usr/bin/env python3
+import pytest
+
+from iqpilot.common.realtime import config_background_thread, Ratekeeper
+
+
+class MonotonicClock:
+  def __init__(self) -> None:
+    self.now = 0.
+
+  def advance(self, seconds: float) -> None:
+    self.now += seconds
+
+  def __call__(self) -> float:
+    return self.now
+
+
+def test_ratekeeper_reset_discards_accumulated_lag(monkeypatch):
+  clock = MonotonicClock()
+  monkeypatch.setattr("iqpilot.common.realtime.time.monotonic", clock)
+  rk = Ratekeeper(100)
+
+  rk.monitor_time()
+  clock.advance(0.075)
+  rk.monitor_time()
+  assert rk.remaining == pytest.approx(-0.055)
+  assert rk.lag == pytest.approx(0.055)
+
+  rk.reset()
+  assert rk.remaining == 0.
+  assert rk.lag == 0.
+
+  rk.monitor_time()
+  assert rk.remaining == pytest.approx(0.01)
+  assert rk.lag == 0.
+
+
+def test_ratekeeper_reset_preserves_frame_count(monkeypatch):
+  clock = MonotonicClock()
+  monkeypatch.setattr("iqpilot.common.realtime.time.monotonic", clock)
+  rk = Ratekeeper(100)
+
+  rk.monitor_time()
+  clock.advance(0.01)
+  rk.monitor_time()
+  frame = rk.frame
+
+  rk.reset()
+  assert rk.frame == frame
+
+
+def test_config_background_thread_restores_normal_scheduling(monkeypatch):
+  calls = []
+  monkeypatch.setattr("iqpilot.common.realtime.sys.platform", "linux")
+  monkeypatch.setattr("iqpilot.common.realtime.PC", False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.cpu_count", lambda: 8)
+  monkeypatch.setattr("iqpilot.common.realtime.os.SCHED_OTHER", 0, raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_param", lambda priority: priority, raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_setscheduler", lambda pid, policy, param: calls.append((pid, policy, param)), raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_setaffinity", lambda pid, cores: calls.append((pid, set(cores))), raising=False)
+
+  config_background_thread()
+
+  assert calls == [(0, 0, 0), (0, set(range(8)))]

iqpilot/common/tests/test_simple_kalman.py

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+from iqpilot.common.simple_kalman import KF1D
+
+
+class TestSimpleKalman:
+  def setup_method(self):
+    dt = 0.01
+    x0_0 = 0.0
+    x1_0 = 0.0
+    A0_0 = 1.0
+    A0_1 = dt
+    A1_0 = 0.0
+    A1_1 = 1.0
+    C0_0 = 1.0
+    C0_1 = 0.0
+    K0_0 = 0.12287673
+    K1_0 = 0.29666309
+
+    self.kf = KF1D(x0=[[x0_0], [x1_0]],
+                   A=[[A0_0, A0_1], [A1_0, A1_1]],
+                   C=[C0_0, C0_1],
+                   K=[[K0_0], [K1_0]])
+
+  def test_getter_setter(self):
+    self.kf.set_x([[1.0], [1.0]])
+    assert self.kf.x == [[1.0], [1.0]]
+
+  def test_update_returns_state(self):
+    x = self.kf.update(100)
+    assert x == [i[0] for i in self.kf.x]

iqpilot/common/tests/test_steer_delay.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import time
+
+import pytest
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.cereal import car
+from iqpilot.common.params import Params
+from iqpilot.common.steer_delay import (
+  SteerDelayPublisher,
+  cached_steer_delay,
+  fixed_steer_delay,
+  lateral_action_delay,
+  resolve_steer_delay,
+)
+
+ANGLE = car.CarParams.SteerControlType.angle
+TORQUE = car.CarParams.SteerControlType.torque
+
+LIVE_DELAY = 0.4387
+RACK_DELAY = 0.10
+OFFSET = 0.05
+
+
+@pytest.fixture
+def params(tmp_path, monkeypatch):
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
+  p = Params()
+  p.put("IQSteerDelayCache", LIVE_DELAY)
+  p.put("IQSoftwareSteerDelay", OFFSET)
+  return p
+
+
+def _car_params(steer_control_type):
+  cp = car.CarParams.new_message()
+  cp.steerControlType = steer_control_type
+  cp.steerActuatorDelay = RACK_DELAY
+  return cp
+
+
+def _lateral_delay_msg(value):
+  msg = messaging.new_message("lateralDelay")
+  msg.lateralDelay.lateralDelay = value
+  return msg.as_reader()
+
+
+def test_params_fixture_is_isolated_from_the_real_device(params, tmp_path):
+  assert str(tmp_path) in params.get_param_path("")
+
+
+@pytest.mark.parametrize("live_enabled", [True, False])
+def test_torque_cars_always_use_live_delay(params, live_enabled):
+  params.put_bool("IQLiveSteerDelay", live_enabled)
+  assert lateral_action_delay(params, _car_params(TORQUE), LIVE_DELAY) == pytest.approx(LIVE_DELAY)
+
+
+def test_angle_cars_ignore_live_delay_when_self_tuning_is_off(params):
+  params.put_bool("IQLiveSteerDelay", False)
+  delay = lateral_action_delay(params, _car_params(ANGLE), LIVE_DELAY)
+  assert delay == pytest.approx(RACK_DELAY + OFFSET)
+  assert delay != pytest.approx(LIVE_DELAY)
+
+
+def test_angle_cars_use_cached_delay_when_self_tuning_is_on(params):
+  params.put_bool("IQLiveSteerDelay", True)
+  assert lateral_action_delay(params, _car_params(ANGLE), LIVE_DELAY) == pytest.approx(LIVE_DELAY)
+
+
+@pytest.mark.parametrize("offset", [0.05, 0.20, 0.50])
+def test_manual_offset_reaches_the_path_and_matches_what_the_ui_reports(params, offset):
+  params.put_bool("IQLiveSteerDelay", False)
+  params.put("IQSoftwareSteerDelay", offset)
+  ui_total = RACK_DELAY + offset
+  assert fixed_steer_delay(params, RACK_DELAY) == pytest.approx(ui_total)
+  assert lateral_action_delay(params, _car_params(ANGLE), LIVE_DELAY) == pytest.approx(ui_total)
+
+
+@pytest.mark.parametrize("live_enabled", [False, True])
+def test_publisher_writes_the_value_the_resolver_reads(params, live_enabled):
+  params.put_bool("IQLiveSteerDelay", live_enabled)
+  params.put("IQSteerDelayCache", -1.0)
+  SteerDelayPublisher(_car_params(ANGLE)).update(_lateral_delay_msg(LIVE_DELAY))
+
+  expected = LIVE_DELAY if live_enabled else RACK_DELAY + OFFSET
+  deadline = time.monotonic() + 5.0
+  while cached_steer_delay() != pytest.approx(expected) and time.monotonic() < deadline:
+    time.sleep(0.01)
+  assert cached_steer_delay() == pytest.approx(expected)
+  assert resolve_steer_delay(params, RACK_DELAY) == pytest.approx(expected)