IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/car/tests/test_learned_factor_persistence.py

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+import json
+from types import SimpleNamespace
+
+from iqpilot.selfdrive.car.card import Car
+
+
+class DummyParams:
+  def __init__(self):
+    self.values: dict[str, object] = {}
+
+  def get(self, key: str):
+    return self.values.get(key)
+
+  def put_nonblocking(self, key: str, value) -> None:
+    self.values[key] = value
+
+
+class HondaLikeController:
+  def __init__(self):
+    self.gasfactor = 1.0
+    self.windfactor = 1.0
+
+
+def make_car(controller):
+  car = object.__new__(Car)
+  car.params = DummyParams()
+  car.CI = SimpleNamespace(CC=controller)
+  car.CP = SimpleNamespace(carFingerprint="HONDA_CRV_6G")
+  return car
+
+
+class TestLearnedFactorPersistence:
+  def test_save_then_seed_round_trip(self):
+    car = make_car(HondaLikeController())
+    car.CI.CC.gasfactor = 1.37
+    car.CI.CC.windfactor = 0.84
+    car._save_learned_factors()
+
+    fresh = make_car(HondaLikeController())
+    fresh.params.values = car.params.values
+    fresh._seed_learned_factors()
+    assert fresh.CI.CC.gasfactor == 1.37
+    assert fresh.CI.CC.windfactor == 0.84
+
+  def test_factors_keyed_per_fingerprint(self):
+    car = make_car(HondaLikeController())
+    car.CI.CC.gasfactor = 2.0
+    car._save_learned_factors()
+
+    other = make_car(HondaLikeController())
+    other.params.values = car.params.values
+    other.CP = SimpleNamespace(carFingerprint="HONDA_CIVIC_BOSCH")
+    other._seed_learned_factors()
+    assert other.CI.CC.gasfactor == 1.0
+
+    other.CI.CC.gasfactor = 0.5
+    other._save_learned_factors()
+    stored = other.params.values["IQLongLearnedFactors"]
+    assert stored["HONDA_CRV_6G"]["gasfactor"] == 2.0
+    assert stored["HONDA_CIVIC_BOSCH"]["gasfactor"] == 0.5
+
+  def test_seed_ignores_corrupt_or_nonfinite_values(self):
+    car = make_car(HondaLikeController())
+    car.params.values["IQLongLearnedFactors"] = "not json"
+    car._seed_learned_factors()
+    assert car.CI.CC.gasfactor == 1.0
+
+    car.params.values["IQLongLearnedFactors"] = json.dumps({"HONDA_CRV_6G": {"gasfactor": float("nan"), "windfactor": "x"}})
+    car._seed_learned_factors()
+    assert car.CI.CC.gasfactor == 1.0
+    assert car.CI.CC.windfactor == 1.0
+
+  def test_noop_for_controllers_without_factors(self):
+    car = make_car(SimpleNamespace())
+    car._seed_learned_factors()
+    car._save_learned_factors()
+    assert "IQLongLearnedFactors" not in car.params.values
+
+    car = make_car(None)
+    car._seed_learned_factors()
+    car._save_learned_factors()
+    assert "IQLongLearnedFactors" not in car.params.values
+
+
+class TestLearnedFactorRealParams:
+  """Round-trips through the actual params store so the pyx JSON type marshaling is exercised:
+  JSON params take dicts on put and come back parsed on get."""
+
+  def make_real_car(self, tmp_path, controller):
+    from iqpilot.common.params import Params
+    car = object.__new__(Car)
+    car.params = Params(str(tmp_path))
+    car.CI = SimpleNamespace(CC=controller)
+    car.CP = SimpleNamespace(carFingerprint="HONDA_CIVIC_2022")
+    return car
+
+  def test_save_then_seed_through_real_params(self, tmp_path):
+    import time
+    car = self.make_real_car(tmp_path, HondaLikeController())
+    car.CI.CC.gasfactor = 1.31
+    car.CI.CC.windfactor = 0.88
+    car._save_learned_factors()
+    time.sleep(0.3)
+
+    fresh = self.make_real_car(tmp_path, HondaLikeController())
+    fresh._seed_learned_factors()
+    assert fresh.CI.CC.gasfactor == 1.31
+    assert fresh.CI.CC.windfactor == 0.88
+
+  def test_repeated_saves_through_real_params(self, tmp_path):
+    import time
+    car = self.make_real_car(tmp_path, HondaLikeController())
+    for value in (1.1, 1.2, 1.3):
+      car.CI.CC.gasfactor = value
+      car._save_learned_factors()
+      time.sleep(0.3)
+    fresh = self.make_real_car(tmp_path, HondaLikeController())
+    fresh._seed_learned_factors()
+    assert fresh.CI.CC.gasfactor == 1.3