IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/ui/tests/.gitignore

@@ -0,0 +1,9 @@
+test
+test_translations
+test_ui/report_1
+test_ui/raylib_report
+
+diff/*.mp4
+diff/*.html
+diff/.coverage
+diff/htmlcov/

iqpilot/selfdrive/ui/tests/cycle_offroad_alerts.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import os
+import sys
+import time
+import json
+
+from iqpilot.common.basedir import BASEDIR
+from iqpilot.common.params import Params
+from iqpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from iqpilot.system.updated.updated import parse_release_notes
+
+if __name__ == "__main__":
+  params = Params()
+
+  with open(os.path.join(BASEDIR, "iqpilot/selfdrive/selfdrived/alerts_offroad.json")) as f:
+    offroad_alerts = json.load(f)
+
+  t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
+  while True:
+    print("setting alert update")
+    params.put_bool("UpdateAvailable", True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
+
+    time.sleep(t)
+    params.put_bool("UpdateAvailable", False)
+
+    # cycle through normal alerts
+    for a in offroad_alerts:
+      print("setting alert:", a)
+      set_offroad_alert(a, True)
+      time.sleep(t)
+      set_offroad_alert(a, False)
+
+    print("no alert")
+    time.sleep(t)

iqpilot/selfdrive/ui/tests/test_feedbackd.py

@@ -0,0 +1,23 @@
+import time
+
+import pytest
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.system.manager.process_config import managed_processes
+
+
+@pytest.mark.linux
+def test_feedbackd_publishes_bookmark():
+  publisher = messaging.PubMaster(["bookmarkButton"])
+  subscriber = messaging.SubMaster(["userBookmark"])
+  process = managed_processes["feedbackd"]
+  process.start()
+  try:
+    assert publisher.wait_for_readers_to_update("bookmarkButton", timeout=5)
+    deadline = time.monotonic() + 5
+    while time.monotonic() < deadline and not subscriber.updated["userBookmark"]:
+      publisher.send("bookmarkButton", messaging.new_message("bookmarkButton"))
+      subscriber.update(100)
+    assert subscriber.updated["userBookmark"]
+  finally:
+    process.stop()

iqpilot/selfdrive/ui/tests/test_local_routes.py

@@ -0,0 +1,38 @@
+from pathlib import Path
+
+from iqpilot.selfdrive.ui.lib.local_routes import list_local_routes
+
+
+def _touch(path: Path) -> None:
+  path.parent.mkdir(parents=True, exist_ok=True)
+  path.write_bytes(b"")
+
+
+def test_list_local_routes_from_segment_directories(tmp_path):
+  route_name = "00000051--3141cf1d76"
+  _touch(tmp_path / f"{route_name}--0" / "qcamera.ts")
+  _touch(tmp_path / f"{route_name}--1" / "qlog.zst")
+
+  routes = list_local_routes(tmp_path)
+
+  assert len(routes) == 1
+  assert routes[0].name == route_name
+  assert routes[0].segment_count == 2
+  assert routes[0].cameras == ("road",)
+
+
+def test_list_local_routes_from_single_segment_directory(tmp_path):
+  route_name = "00000052--3141cf1d77"
+  _touch(tmp_path / f"{route_name}--0" / "qcamera.ts")
+
+  routes = list_local_routes(tmp_path)
+
+  assert len(routes) == 1
+  assert routes[0].name == route_name
+  assert routes[0].subtitle == "1:00  ·  Road Cam"
+
+
+def test_list_local_routes_ignores_invalid_entries(tmp_path):
+  _touch(tmp_path / "not-a-route" / "fcamera.hevc")
+
+  assert list_local_routes(tmp_path) == []

iqpilot/selfdrive/ui/tests/test_nav_helpers.py

@@ -0,0 +1,71 @@
+import json
+
+from iqpilot.common.params import Params
+from iqpilot.selfdrive.ui.lib.nav_helpers import current_or_last_gps_position, resolve_mapbox_token
+
+
+def test_resolve_mapbox_token_reads_param(tmp_path):
+  params = Params(tmp_path.as_posix())
+  params.put("MapboxToken", "pk.test-token")
+
+  assert resolve_mapbox_token(params) == "pk.test-token"
+
+
+def test_resolve_mapbox_token_missing_returns_empty(tmp_path):
+  params = Params(tmp_path.as_posix())
+
+  assert resolve_mapbox_token(params) == ""
+
+
+def test_current_or_last_gps_position_uses_last_position_param(tmp_path):
+  params = Params(tmp_path.as_posix())
+  params.put("LastGPSPosition", json.dumps({
+    "latitude": 37.7749,
+    "longitude": -122.4194,
+    "bearing": 91.5,
+  }))
+
+  lat, lon, bearing, valid = current_or_last_gps_position(params)
+
+  assert valid
+  assert lat == 37.7749
+  assert lon == -122.4194
+  assert bearing == 91.5
+
+
+def test_current_or_last_gps_position_uses_iqloc_position_param(tmp_path):
+  params = Params(tmp_path.as_posix())
+  params.put("LastGPSPositionIQLoc", json.dumps({
+    "latitude": 34.0522,
+    "longitude": -118.2437,
+    "bearingDeg": 12.0,
+  }))
+
+  lat, lon, bearing, valid = current_or_last_gps_position(params)
+
+  assert valid
+  assert lat == 34.0522
+  assert lon == -118.2437
+  assert bearing == 12.0
+
+
+def test_current_or_last_gps_position_accepts_lat_lon_aliases(tmp_path):
+  params = Params(tmp_path.as_posix())
+  params.put("LastGPSPosition", json.dumps({
+    "lat": 40.7128,
+    "lng": -74.006,
+  }))
+
+  lat, lon, bearing, valid = current_or_last_gps_position(params)
+
+  assert valid
+  assert lat == 40.7128
+  assert lon == -74.006
+  assert bearing == 0.0
+
+
+def test_current_or_last_gps_position_rejects_zero_position(tmp_path):
+  params = Params(tmp_path.as_posix())
+  params.put("LastGPSPosition", "{}")
+
+  assert current_or_last_gps_position(params) == (0.0, 0.0, 0.0, False)

iqpilot/selfdrive/ui/tests/test_nav_map_utils.py

@@ -0,0 +1,72 @@
+from types import SimpleNamespace
+
+from iqpilot.ui.onroad.nav_map_utils import (
+  build_mapbox_static_url,
+  build_mapbox_tile_url,
+  choose_nav_camera,
+  mercator_world_px,
+  mercator_world_px_at_zoom,
+  project_nav_point,
+  project_nav_polyline,
+  tile_world_size,
+)
+
+
+def test_mercator_world_px_changes_with_longitude():
+  x1, y1 = mercator_world_px(41.8826, -87.6393, 16.0)
+  x2, y2 = mercator_world_px(41.8826, -87.6293, 16.0)
+
+  assert x2 > x1
+  assert abs(y2 - y1) < 1.0
+
+
+def test_project_nav_point_centers_current_position():
+  x, y = project_nav_point(41.8826, -87.6393, 41.8826, -87.6393, 16.0, 90.0, 420.0, 420.0)
+
+  assert round(x, 3) == 210.0
+  assert round(y, 3) == 210.0
+
+
+def test_project_nav_polyline_preserves_point_count():
+  points = [
+    SimpleNamespace(latitude=41.8826, longitude=-87.6422),
+    SimpleNamespace(latitude=41.8826, longitude=-87.6393),
+    SimpleNamespace(latitude=41.8830, longitude=-87.6366),
+  ]
+
+  projected = project_nav_polyline(points, 41.8826, -87.6393, 16.0, 90.0, 420.0, 420.0)
+
+  assert len(projected) == len(points)
+
+
+def test_choose_nav_camera_looks_ahead_of_vehicle():
+  points = [
+    SimpleNamespace(latitude=41.8826, longitude=-87.6393),
+    SimpleNamespace(latitude=41.8835, longitude=-87.6355),
+  ]
+
+  center_lat, center_lon, zoom = choose_nav_camera(41.8826, -87.6393, 90.0, points, 420.0, 420.0, 16.2)
+
+  assert center_lon > -87.6393
+  assert 16.0 <= zoom <= 17.8
+
+
+def test_build_mapbox_static_url_contains_expected_components():
+  url = build_mapbox_static_url(41.8826, -87.6393, 16.2, 90.0, 420, 420)
+
+  assert "navigation-night-v1/static/" in url
+  assert "-87.639300,41.882600,16.20,90.0,0/420x420@2x" in url
+
+
+def test_build_mapbox_tile_url_contains_expected_components():
+  url = build_mapbox_tile_url(16, 10619, 24322)
+
+  assert "navigation-night-v1/tiles/256/16/10619/24322@2x" in url
+
+
+def test_world_size_and_world_px_align_at_integer_zoom():
+  world_size = tile_world_size(16)
+  x, y = mercator_world_px_at_zoom(41.8826, -87.6393, 16)
+
+  assert 0.0 <= x <= world_size
+  assert 0.0 <= y <= world_size

iqpilot/selfdrive/ui/tests/test_nav_search.py

@@ -0,0 +1,95 @@
+"""
+Copyright (c) IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from types import SimpleNamespace
+
+from iqpilot.selfdrive.ui.lib import nav_search
+
+
+class FakeParams:
+  def get(self, key, *args, **kwargs):
+    return {
+      "AmapWebServiceKey": "amap-key",
+      "OsmLocationName": "CN",
+      "MapboxToken": "mapbox-key",
+    }.get(key)
+
+
+def test_china_search_uses_amap_without_calling_mapbox(monkeypatch):
+  search = nav_search.NavSearch.__new__(nav_search.NavSearch)
+  search._params = FakeParams()
+  search._seq = 1
+  search._results = []
+  search._searching = True
+  search._amap_adcode = ""
+  import threading
+  search._lock = threading.Lock()
+
+  amap_client = SimpleNamespace(
+    is_mainland_china_configured=lambda *args, **kwargs: True,
+    get_key=lambda *args, **kwargs: "amap-key",
+    status=lambda: "ok",
+    reverse_adcode=lambda *args, **kwargs: "",
+    autocomplete=lambda *args, **kwargs: [],
+  )
+  monkeypatch.setattr(nav_search, "_amap_client", amap_client)
+  monkeypatch.setattr(nav_search, "current_or_last_gps_position", lambda *_: (39.9, 116.4, 0.0, True))
+  monkeypatch.setattr(amap_client, "reverse_adcode", lambda *args, **kwargs: "110000")
+  monkeypatch.setattr(amap_client, "autocomplete", lambda *args, **kwargs: [
+    SimpleNamespace(
+      name="Tiananmen",
+      address="Dongcheng, Beijing",
+      provider_id="B000A83M61",
+      latitude=39.9087,
+      longitude=116.3975,
+    ),
+  ])
+  monkeypatch.setattr(nav_search.requests, "get", lambda *args, **kwargs: (_ for _ in ()).throw(AssertionError("Mapbox called")))
+
+  search._do_search("Tiananmen", 1)
+
+  assert len(search._results) == 1
+  assert search._results[0].provider == "amap"
+  assert search._results[0].has_coords
+
+
+def test_non_china_search_preserves_mapbox_request(monkeypatch):
+  search = nav_search.NavSearch.__new__(nav_search.NavSearch)
+  search._params = FakeParams()
+  search._session = "session"
+  search._seq = 1
+  search._results = []
+  search._searching = True
+  search._amap_adcode = ""
+  import threading
+  search._lock = threading.Lock()
+  captured = {}
+
+  class Response:
+    def raise_for_status(self):
+      return None
+
+    def json(self):
+      return {"suggestions": []}
+
+  def get(url, *, params, timeout):
+    captured.update(url=url, params=params, timeout=timeout)
+    return Response()
+
+  monkeypatch.setattr(nav_search, "current_or_last_gps_position", lambda *_: (41.3, -90.2, 0.0, True))
+  monkeypatch.setattr(nav_search, "resolve_mapbox_token", lambda *_: "mapbox-key")
+  monkeypatch.setattr(nav_search, "_amap_client", None)
+  monkeypatch.setattr(nav_search.requests, "get", get)
+
+  search._do_search("Home", 1)
+
+  assert captured["url"] == f"{nav_search.SEARCHBOX}/suggest"
+  assert captured["params"] == {
+    "q": "Home",
+    "access_token": "mapbox-key",
+    "session_token": "session",
+    "limit": nav_search.MAX_RESULTS,
+    "language": "en",
+    "proximity": "-90.2,41.3",
+  }
+  assert captured["timeout"] == 8

iqpilot/selfdrive/ui/tests/test_offline_raster_pipeline.py

@@ -0,0 +1,39 @@
+import sqlite3
+
+from scripts.iqpilot.package_xyz_tiles_to_mbtiles import build_mbtiles
+from scripts.iqpilot.render_raster_tiles_from_vector_mbtiles import tile_range_for_bounds
+
+
+PNG_1X1 = (
+  b"\x89PNG\r\n\x1a\n\x00\x00\x00\rIHDR\x00\x00\x00\x01\x00\x00\x00\x01"
+  b"\x08\x06\x00\x00\x00\x1f\x15\xc4\x89\x00\x00\x00\rIDATx\x9cc\xf8\xcf"
+  b"\xc0\xf0\x1f\x00\x05\x00\x01\xff\x89\x99=\x1d\x00\x00\x00\x00IEND\xaeB`\x82"
+)
+
+
+def test_tile_range_for_bounds_returns_non_empty_ranges():
+  x_range, y_range = tile_range_for_bounds((-88.15, 41.65, -88.02, 41.76), 14)
+  assert len(list(x_range)) > 0
+  assert len(list(y_range)) > 0
+
+
+def test_build_mbtiles_from_xyz_tiles(tmp_path):
+  source = tmp_path / "xyz"
+  tile_dir = source / "14" / "2625"
+  tile_dir.mkdir(parents=True)
+  (tile_dir / "6335@2x.png").write_bytes(PNG_1X1)
+
+  output = tmp_path / "offline.mbtiles"
+  build_mbtiles(source, output, bounds="-88.15,41.65,-88.02,41.76")
+
+  conn = sqlite3.connect(output)
+  try:
+    fmt = conn.execute("SELECT value FROM metadata WHERE name='format'").fetchone()[0]
+    bounds = conn.execute("SELECT value FROM metadata WHERE name='bounds'").fetchone()[0]
+    count = conn.execute("SELECT COUNT(*) FROM tiles").fetchone()[0]
+  finally:
+    conn.close()
+
+  assert fmt == "png"
+  assert bounds == "-88.15,41.65,-88.02,41.76"
+  assert count == 1

iqpilot/selfdrive/ui/tests/test_offline_tiles.py

@@ -0,0 +1,128 @@
+import os
+import sqlite3
+import json
+
+from iqpilot.ui.onroad import offline_tiles
+
+
+PNG_1X1 = (
+  b"\x89PNG\r\n\x1a\n\x00\x00\x00\rIHDR\x00\x00\x00\x01\x00\x00\x00\x01"
+  b"\x08\x06\x00\x00\x00\x1f\x15\xc4\x89\x00\x00\x00\rIDATx\x9cc\xf8\xcf"
+  b"\xc0\xf0\x1f\x00\x05\x00\x01\xff\x89\x99=\x1d\x00\x00\x00\x00IEND\xaeB`\x82"
+)
+
+
+def _write_mbtiles(path):
+  conn = sqlite3.connect(path)
+  conn.execute("CREATE TABLE metadata (name text, value text)")
+  conn.execute("CREATE TABLE tiles (zoom_level integer, tile_column integer, tile_row integer, tile_data blob)")
+  conn.execute("INSERT INTO metadata (name, value) VALUES ('format', 'png')")
+  conn.execute("INSERT INTO metadata (name, value) VALUES ('minzoom', '1')")
+  conn.execute("INSERT INTO metadata (name, value) VALUES ('maxzoom', '3')")
+  conn.execute(
+    "INSERT INTO tiles (zoom_level, tile_column, tile_row, tile_data) VALUES (?, ?, ?, ?)",
+    (1, 1, offline_tiles.xyz_to_tms_y(1, 0), PNG_1X1),
+  )
+  conn.commit()
+  conn.close()
+
+
+def test_xyz_to_tms_y():
+  assert offline_tiles.xyz_to_tms_y(1, 0) == 1
+  assert offline_tiles.xyz_to_tms_y(1, 1) == 0
+
+
+def test_find_offline_mbtiles_path_from_env(tmp_path, monkeypatch):
+  mbtiles = tmp_path / "demo.mbtiles"
+  _write_mbtiles(mbtiles)
+  monkeypatch.setenv(offline_tiles.OFFLINE_MBTILES_ENV, str(mbtiles))
+  assert offline_tiles.find_offline_mbtiles_path() == mbtiles
+
+
+def test_find_offline_xyz_root(tmp_path, monkeypatch):
+  root = tmp_path / "tiles"
+  (root / "15" / "10500").mkdir(parents=True)
+  monkeypatch.setenv(offline_tiles.OFFLINE_TILE_ROOT_ENV, str(root))
+  assert offline_tiles.find_offline_xyz_root() == root
+
+
+def test_load_raster_tile_blob_from_mbtiles(tmp_path):
+  mbtiles = tmp_path / "offline.mbtiles"
+  _write_mbtiles(mbtiles)
+  conn = offline_tiles.open_mbtiles(mbtiles)
+  try:
+    assert offline_tiles.mbtiles_is_raster(conn) is True
+    assert offline_tiles.mbtiles_zoom_bounds(conn) == (1, 3)
+    assert offline_tiles.load_raster_tile_blob(conn, 1, 1, 0) == PNG_1X1
+  finally:
+    conn.close()
+
+
+def test_load_raster_tile_blob_from_xyz_dir(tmp_path, monkeypatch):
+  root = tmp_path / "offline_tiles"
+  tile_path = root / "14" / "2625"
+  tile_path.mkdir(parents=True)
+  (tile_path / "6335@2x.png").write_bytes(PNG_1X1)
+  monkeypatch.setenv(offline_tiles.OFFLINE_TILE_ROOT_ENV, str(root))
+  assert offline_tiles.xyz_zoom_bounds(root) == (14, 14)
+  assert offline_tiles.load_raster_xyz_tile_blob(root, 14, 2625, 6335) == PNG_1X1
+
+
+def test_find_offline_region_root_by_bounds(tmp_path, monkeypatch):
+  root = tmp_path / "offline_maps"
+  il = root / "regions" / "illinois"
+  ca = root / "regions" / "california"
+  (il / "tiles").mkdir(parents=True)
+  (ca / "tiles").mkdir(parents=True)
+  (il / "manifest.json").write_text(json.dumps({"mbtiles": {"bounds": "-91.6,36.9,-87.4,42.6"}}))
+  (ca / "manifest.json").write_text(json.dumps({"mbtiles": {"bounds": "-124.5,32.4,-114.1,42.1"}}))
+
+  monkeypatch.setenv(offline_tiles.OFFLINE_TILE_ROOT_ENV, str(root / "tiles"))
+  assert offline_tiles.find_offline_region_root(41.88, -87.63) == il
+  assert offline_tiles.find_offline_region_root(34.05, -118.24) == ca
+
+
+def test_find_offline_mbtiles_path_uses_selected_region(tmp_path, monkeypatch):
+  root = tmp_path / "offline_maps"
+  il = root / "regions" / "illinois"
+  ca = root / "regions" / "california"
+  (il / "tiles").mkdir(parents=True)
+  (ca / "tiles").mkdir(parents=True)
+  (il / "manifest.json").write_text(json.dumps({"mbtiles": {"bounds": "-91.6,36.9,-87.4,42.6"}}))
+  (ca / "manifest.json").write_text(json.dumps({"mbtiles": {"bounds": "-124.5,32.4,-114.1,42.1"}}))
+  _write_mbtiles(il / "tiles" / "offline.mbtiles")
+  _write_mbtiles(ca / "tiles" / "offline.mbtiles")
+
+  monkeypatch.setenv(offline_tiles.OFFLINE_TILE_ROOT_ENV, str(root / "tiles"))
+  assert offline_tiles.find_offline_mbtiles_path(41.88, -87.63) == il / "tiles" / "offline.mbtiles"
+  assert offline_tiles.find_offline_mbtiles_path(34.05, -118.24) == ca / "tiles" / "offline.mbtiles"
+
+
+def test_day_variant_selection(tmp_path, monkeypatch):
+  root = tmp_path / "offline_maps"
+  region = root / "regions" / "us_state.IL"
+  (region / "tiles").mkdir(parents=True)
+  (region / "manifest.json").write_text(json.dumps({"mbtiles": {"bounds": "-88.3,41.5,-87.8,41.9"}}))
+  _write_mbtiles(region / "tiles" / "offline.mbtiles")
+  monkeypatch.setenv(offline_tiles.OFFLINE_TILE_ROOT_ENV, str(root / "tiles"))
+  offline_tiles._region_roots_cache = None
+  offline_tiles._region_bounds_cache.clear()
+
+  # no day variant yet: day request falls back to the night set
+  night = region / "tiles" / "offline.mbtiles"
+  assert offline_tiles.find_offline_mbtiles_path(41.7, -88.0, day=True) == night
+  assert offline_tiles.find_offline_mbtiles_path(41.7, -88.0, day=False) == night
+
+  # day variant installed: day requests prefer it, night unchanged
+  _write_mbtiles(region / "tiles" / "offline_day.mbtiles")
+  assert offline_tiles.find_offline_mbtiles_path(41.7, -88.0, day=True) == region / "tiles" / "offline_day.mbtiles"
+  assert offline_tiles.find_offline_mbtiles_path(41.7, -88.0, day=False) == night
+
+
+def test_solar_elevation_day_night():
+  from iqpilot.ui.onroad.nav_map_utils import solar_elevation_deg
+  # Chicago 2026-07-11: 18:00 UTC (1pm CDT) is day; 06:00 UTC (1am CDT) is night
+  noon_utc = 1783792800.0  # 2026-07-11 18:00:00 UTC
+  night_utc = noon_utc - 12 * 3600
+  assert solar_elevation_deg(41.88, -87.63, noon_utc) > 30.0
+  assert solar_elevation_deg(41.88, -87.63, night_utc) < -10.0

iqpilot/selfdrive/ui/tests/test_raylib_ui.py

@@ -0,0 +1,27 @@
+import time
+import pytest
+from iqpilot.selfdrive.test.helpers import with_processes
+from iqpilot.system.ui.lib import application
+from iqpilot.system.ui.lib.utils import gui_style_color
+
+
+@pytest.mark.linux
+@with_processes(["ui"])
+def test_raylib_ui():
+  """Test initialization of the UI widgets is successful."""
+  time.sleep(1)
+
+
+def test_style_colors_match_gui_style_abi(monkeypatch):
+  calls = []
+  monkeypatch.setattr(application.rl, "gui_set_style", lambda *args: calls.append(args))
+  monkeypatch.setattr(application, "gui_style_color", lambda color: 27)
+  application.GuiApplication._set_styles(None)
+  assert [call[2] for call in calls[-3:]] == [27, 27, 27]
+
+
+def test_gui_style_color_uses_binding_value_type():
+  color = application.rl.Color(229, 229, 229, 255)
+  value_type = application.rl.ffi.typeof(application.rl.raylib.GuiSetStyle).args[2]
+  expected = int(application.rl.ffi.cast(value_type, application.rl.color_to_int(color)))
+  assert gui_style_color(color) == expected

iqpilot/selfdrive/ui/tests/test_settings_interactive_timeout.py

@@ -0,0 +1,56 @@
+from types import SimpleNamespace
+
+import pytest
+
+from iqpilot.selfdrive.ui.layouts.main import MainLayout, MainState
+
+
+def make_layout(current_mode):
+  layout = object.__new__(MainLayout)
+  layout._current_mode = current_mode
+  layout._set_mode_calls = []
+  layout._set_mode_for_state = lambda: layout._set_mode_calls.append(current_mode)
+  return layout
+
+
+class FakeSm:
+  def __init__(self, v_ego, carstate_valid):
+    self.valid = {"carState": carstate_valid}
+    self._v_ego = v_ego
+
+  def __getitem__(self, key):
+    return SimpleNamespace(vEgo=self._v_ego)
+
+
+class TestSettingsInteractiveTimeout:
+  def _run(self, current_mode, started, v_ego, carstate_valid=True):
+    layout = make_layout(current_mode)
+    fake = SimpleNamespace(started=started, sm=FakeSm(v_ego, carstate_valid))
+    monkeypatch = pytest.MonkeyPatch()
+    monkeypatch.setattr("iqpilot.selfdrive.ui.layouts.main.ui_state", fake)
+    try:
+      layout._on_interactive_timeout()
+    finally:
+      monkeypatch.undo()
+    return layout._set_mode_calls
+
+  def test_stationary_in_settings_stays(self):
+    # parked/charging hybrid reads onroad; the timeout must not eject from Settings
+    assert self._run(MainState.SETTINGS, started=True, v_ego=0.0) == []
+
+  def test_moving_in_settings_returns_to_road(self):
+    assert self._run(MainState.SETTINGS, started=True, v_ego=5.0) == [MainState.SETTINGS]
+
+  def test_onroad_layout_always_handled(self):
+    assert self._run(MainState.ONROAD, started=True, v_ego=0.0) == [MainState.ONROAD]
+
+  def test_home_layout_always_handled(self):
+    assert self._run(MainState.HOME, started=True, v_ego=0.0) == [MainState.HOME]
+
+  def test_offroad_in_settings_handled(self):
+    # car off (offroad): existing behavior is unchanged
+    assert self._run(MainState.SETTINGS, started=False, v_ego=0.0) == [MainState.SETTINGS]
+
+  def test_invalid_carstate_treated_as_moving(self):
+    # if speed is unknown, fail safe to the road view rather than trapping in settings
+    assert self._run(MainState.SETTINGS, started=True, v_ego=0.0, carstate_valid=False) == [MainState.SETTINGS]

iqpilot/selfdrive/ui/tests/test_soundd.py

@@ -0,0 +1,34 @@
+from types import SimpleNamespace
+
+from iqpilot.cereal import car
+from iqpilot.selfdrive.ui import soundd
+
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+
+class TestSoundd:
+  def test_check_selfdrive_timeout_alert(self, monkeypatch):
+    class FakeSubMaster:
+      recv_time = {'selfdriveState': 100.0}
+
+      def __init__(self, enabled):
+        self.state = SimpleNamespace(enabled=enabled)
+
+      def __getitem__(self, service):
+        assert service == 'selfdriveState'
+        return self.state
+
+    enabled = FakeSubMaster(True)
+    disabled = FakeSubMaster(False)
+
+    monkeypatch.setattr(soundd.time, "monotonic", lambda: 100.0 + soundd.SELFDRIVE_STATE_TIMEOUT)
+    assert not soundd.check_selfdrive_timeout_alert(enabled)
+
+    monkeypatch.setattr(soundd.time, "monotonic", lambda: 101.0 + soundd.SELFDRIVE_STATE_TIMEOUT)
+    assert soundd.check_selfdrive_timeout_alert(enabled)
+    assert not soundd.check_selfdrive_timeout_alert(disabled)
+
+    monkeypatch.setattr(soundd.time, "monotonic", lambda: 110.0 + soundd.SELFDRIVE_STATE_TIMEOUT)
+    assert not soundd.check_selfdrive_timeout_alert(enabled)
+
+  # TODO: add test with micd for checking that soundd actually outputs sounds

iqpilot/selfdrive/ui/tests/test_translations.py

@@ -0,0 +1,48 @@
+import gettext
+import json
+import re
+
+import pytest
+
+from iqpilot.system.ui.lib.multilang import LANGUAGES_FILE, TRANSLATIONS_DIR
+
+
+FORMAT_ARG = re.compile(r"%(?:\([^)]+\))?[#0+\-]?(?:\d+|\*)?(?:\.\d+|\.\*)?[hlL]?[diouxXeEfFgGcrsa%]")
+
+
+with LANGUAGES_FILE.open(encoding="utf-8") as stream:
+  LANGUAGES = json.load(stream)
+
+
+def load_catalog(language_code: str) -> dict[str | tuple[str, int], str]:
+  with TRANSLATIONS_DIR.joinpath(f"app_{language_code}.mo").open("rb") as stream:
+    return gettext.GNUTranslations(stream)._catalog
+
+
+def message_keys(catalog: dict[str | tuple[str, int], str]) -> set[str]:
+  return {key for key in catalog if isinstance(key, str) and key}
+
+
+def format_args(text: str) -> list[str]:
+  return sorted(match for match in FORMAT_ARG.findall(text) if match != "%%")
+
+
+def test_language_codes_are_unique():
+  assert len(LANGUAGES) == len(set(LANGUAGES.values()))
+
+
+@pytest.mark.parametrize("language_code", LANGUAGES.values(), ids=LANGUAGES.keys())
+def test_translation_catalog_is_complete(language_code):
+  source = load_catalog("en")
+  translated = load_catalog(language_code)
+  assert message_keys(translated) == message_keys(source)
+
+
+@pytest.mark.parametrize("language_code", LANGUAGES.values(), ids=LANGUAGES.keys())
+def test_translation_catalog_entries(language_code):
+  catalog = load_catalog(language_code)
+  for source, translated in catalog.items():
+    if not isinstance(source, str) or not source:
+      continue
+    assert translated
+    assert format_args(translated) == format_args(source)