IQ.Pilot Release Commit @ 0798119

2026-08-22 23:42:42 -05:00
commit b42569dbca
4529 changed files with 1132125 additions and 0 deletions
--- a/selfdrive/car/tests/test_car_specific_events.py
+++ b/selfdrive/car/tests/test_car_specific_events.py
@@ -0,0 +1,117 @@
+from types import SimpleNamespace
+
+from cereal import log
+from iqdbc.car import structs
+
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
+
+EventName = log.OnroadEvent.EventName
+GearShifter = structs.CarState.GearShifter
+
+
+def make_car_state(**overrides):
+  base = dict(
+    doorOpen=False,
+    seatbeltUnlatched=False,
+    gearShifter=GearShifter.drive,
+    cruiseState=SimpleNamespace(available=True, enabled=False, nonAdaptive=False),
+    cruiseFaultLateralMode=False,
+    espDisabled=False,
+    espActive=False,
+    stockFcw=False,
+    stockAeb=False,
+    stockLkas=False,
+    vEgo=15.0,
+    brakeHoldActive=False,
+    parkingBrake=False,
+    accFaulted=False,
+    steeringPressed=False,
+    steeringDisengage=False,
+    brakePressed=False,
+    standstill=False,
+    gasPressed=False,
+    vehicleSensorsInvalid=False,
+    invalidLkasSetting=False,
+    lowSpeedAlert=False,
+    buttonEnable=False,
+    buttonEvents=[],
+    steerFaultTemporary=False,
+    steerFaultPermanent=False,
+    blockPcmEnable=False,
+  )
+  base.update(overrides)
+  return SimpleNamespace(**base)
+
+
+def test_pcm_disable_suppressed_during_cruise_fault_lateral_mode():
+  cp = SimpleNamespace(
+    brand="volkswagen",
+    openpilotLongitudinalControl=False,
+    minEnableSpeed=0.0,
+    pcmCruise=True,
+    carFingerprint="MOCK",
+  )
+  events = CarSpecificEvents(cp)
+
+  cs = make_car_state(cruiseFaultLateralMode=True)
+  cs_prev = make_car_state(cruiseState=SimpleNamespace(available=True, enabled=True, nonAdaptive=False))
+
+  out = events.update(cs, cs_prev, SimpleNamespace(actuators=SimpleNamespace(accel=0.0)))
+
+  assert not out.has(EventName.pcmDisable)
+
+
+def test_cruise_fault_lateral_mode_replaces_acc_faulted_alert():
+  cp = SimpleNamespace(
+    brand="volkswagen",
+    openpilotLongitudinalControl=False,
+    minEnableSpeed=0.0,
+    pcmCruise=True,
+    carFingerprint="MOCK",
+  )
+  events = CarSpecificEvents(cp)
+
+  cs = make_car_state(accFaulted=True, cruiseFaultLateralMode=True)
+  cs_prev = make_car_state()
+
+  out = events.update(cs, cs_prev, SimpleNamespace(actuators=SimpleNamespace(accel=0.0)))
+
+  assert out.has(EventName.cruiseFaultLateralAllowed)
+  assert not out.has(EventName.accFaulted)
+
+
+def test_acc_faulted_still_emitted_without_cruise_fault_lateral_mode():
+  cp = SimpleNamespace(
+    brand="volkswagen",
+    openpilotLongitudinalControl=False,
+    minEnableSpeed=0.0,
+    pcmCruise=True,
+    carFingerprint="MOCK",
+  )
+  events = CarSpecificEvents(cp)
+
+  cs = make_car_state(accFaulted=True)
+  cs_prev = make_car_state()
+
+  out = events.update(cs, cs_prev, SimpleNamespace(actuators=SimpleNamespace(accel=0.0)))
+
+  assert out.has(EventName.accFaulted)
+  assert not out.has(EventName.cruiseFaultLateralAllowed)
+
+
+def test_pcm_disable_still_emitted_without_cruise_fault_lateral_mode():
+  cp = SimpleNamespace(
+    brand="volkswagen",
+    openpilotLongitudinalControl=False,
+    minEnableSpeed=0.0,
+    pcmCruise=True,
+    carFingerprint="MOCK",
+  )
+  events = CarSpecificEvents(cp)
+
+  cs = make_car_state()
+  cs_prev = make_car_state(cruiseState=SimpleNamespace(available=True, enabled=True, nonAdaptive=False))
+
+  out = events.update(cs, cs_prev, SimpleNamespace(actuators=SimpleNamespace(accel=0.0)))
+
+  assert out.has(EventName.pcmDisable)