IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/system/hardware/tests/test_hardwared.py

@@ -0,0 +1,75 @@
+from types import SimpleNamespace
+
+from iqpilot.system.hardware.hardwared import (
+  ALLOWED_TICI_BRANCHES,
+  CAN_STARTUP_RECOVERY_COOLDOWN,
+  CAN_STARTUP_RECOVERY_DELAY,
+  CAN_STARTUP_RECOVERY_MAX_ATTEMPTS,
+  CanStartupRecovery,
+  is_supported_tici_branch,
+)
+
+
+def test_beta_pq_allowed_for_tici():
+  metadata = SimpleNamespace(channel="beta-pq", channel_type="dev")
+  assert "beta-pq" in ALLOWED_TICI_BRANCHES
+  assert is_supported_tici_branch(metadata)
+
+
+def test_tici_channel_type_allowed():
+  metadata = SimpleNamespace(channel="random-branch", channel_type="tici")
+  assert is_supported_tici_branch(metadata)
+
+
+def test_unsupported_branch_rejected_for_tici():
+  metadata = SimpleNamespace(channel="random-branch", channel_type="dev")
+  assert not is_supported_tici_branch(metadata)
+
+
+def recovery_update(recovery: CanStartupRecovery, now: float, **kwargs) -> bool:
+  defaults = {
+    "ignition": True,
+    "started": True,
+    "engaged": False,
+    "car_state_alive": True,
+    "can_timeout": True,
+    "v_ego": 0.,
+  }
+  return recovery.update(now, **(defaults | kwargs))
+
+
+def test_can_startup_recovery_requires_persistent_timeout():
+  recovery = CanStartupRecovery()
+  assert not recovery_update(recovery, 10.)
+  assert not recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY - 0.1)
+  assert recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY)
+
+
+def test_can_startup_recovery_only_when_safe():
+  for unsafe_state in (
+    {"started": False},
+    {"engaged": True},
+    {"car_state_alive": False},
+    {"can_timeout": False},
+    {"v_ego": 0.2},
+  ):
+    recovery = CanStartupRecovery()
+    assert not recovery_update(recovery, 10., **unsafe_state)
+    assert not recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY, **unsafe_state)
+
+
+def test_can_startup_recovery_is_bounded_and_resets_next_ignition():
+  recovery = CanStartupRecovery()
+  now = 10.
+  for _ in range(CAN_STARTUP_RECOVERY_MAX_ATTEMPTS):
+    assert not recovery_update(recovery, now)
+    now += CAN_STARTUP_RECOVERY_DELAY
+    assert recovery_update(recovery, now)
+    now += CAN_STARTUP_RECOVERY_COOLDOWN
+
+  assert not recovery_update(recovery, now)
+  assert not recovery_update(recovery, now + CAN_STARTUP_RECOVERY_DELAY)
+
+  assert not recovery_update(recovery, now + 10., ignition=False)
+  assert not recovery_update(recovery, now + 11.)
+  assert recovery_update(recovery, now + 11. + CAN_STARTUP_RECOVERY_DELAY)