IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/car/tests/test_longitudinal_mode_persistence.py

@@ -0,0 +1,38 @@
+from iqpilot.cereal import custom
+from iqdbc.car import structs
+
+from iqpilot.selfdrive.car.interfaces import _cleanup_unsupported_params
+
+
+class DummyParams:
+  def __init__(self):
+    self.removed: list[str] = []
+    self.values: dict[str, object] = {}
+
+  def remove(self, key: str) -> None:
+    self.removed.append(key)
+
+  def get_bool(self, key: str) -> bool:
+    return bool(self.values.get(key, False))
+
+  def get(self, key: str, return_default: bool = False):
+    return self.values.get(key)
+
+  def put(self, key: str, value) -> None:
+    self.values[key] = value
+
+
+class TestLongitudinalModePersistence:
+  def test_iq_dynamic_mode_is_not_removed_when_openpilot_long_is_unavailable(self):
+    params = DummyParams()
+    cp = structs.CarParams()
+    cp.openpilotLongitudinalControl = False
+    cp.steerControlType = structs.CarParams.SteerControlType.torque
+
+    cp_iq = custom.IQCarParams()
+    cp_iq.pcmCruiseSpeed = True
+
+    _cleanup_unsupported_params(cp, cp_iq, params)
+
+    assert "IQDynamicMode" not in params.removed
+    assert "LongIncrementsEnabled" in params.removed