IQ.Pilot Release Commit @ dab4674

iqpilot/selfdrive/selfdrived/tests/test_longitudinal_settings.py

@@ -0,0 +1,110 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+import pytest
+
+from iqpilot.selfdrive.longitudinal_settings import (
+  LONGITUDINAL_MODE_CHILL,
+  LONGITUDINAL_MODE_DYNAMIC,
+  LONGITUDINAL_MODE_STOCK,
+  PERSONALITY_AGGRESSIVE,
+  PERSONALITY_RELAXED,
+  PERSONALITY_STANDARD,
+  PERSONALITY_VALUES,
+  apply_longitudinal_mode,
+  get_follow_distance_state,
+  get_longitudinal_mode,
+  get_runtime_personality,
+  set_valid_personality,
+)
+
+
+class Params:
+  def __init__(self, personality=PERSONALITY_STANDARD):
+    self.values = {
+      "AlphaLongitudinalEnabled": True,
+      "ExperimentalMode": True,
+      "IQDynamicMode": True,
+      "LongitudinalPersonality": personality,
+    }
+    self.personality_writes = []
+
+  def get(self, key, return_default=False):
+    return self.values[key]
+
+  def get_bool(self, key):
+    return bool(self.values[key])
+
+  def put(self, key, value):
+    self.values[key] = value
+    if key == "LongitudinalPersonality":
+      self.personality_writes.append(value)
+
+  def put_bool(self, key, value):
+    self.values[key] = bool(value)
+
+
+def test_personality_writer_rejects_stock_value():
+  params = Params()
+
+  with pytest.raises(ValueError):
+    set_valid_personality(params, 3)
+
+  assert params.personality_writes == []
+
+
+def test_mode_paths_only_write_valid_personalities():
+  params = Params(PERSONALITY_AGGRESSIVE)
+
+  for mode in range(4):
+    apply_longitudinal_mode(params, mode)
+
+  assert all(value in PERSONALITY_VALUES for value in params.personality_writes)
+
+
+def test_stock_mode_preserves_personality_and_dynamic_restores_it():
+  params = Params(PERSONALITY_AGGRESSIVE)
+
+  apply_longitudinal_mode(params, LONGITUDINAL_MODE_STOCK)
+
+  assert get_follow_distance_state(params) == (None, False)
+  assert get_runtime_personality(params) == PERSONALITY_AGGRESSIVE
+  assert params.values["LongitudinalPersonality"] == PERSONALITY_AGGRESSIVE
+  assert params.personality_writes == []
+
+  apply_longitudinal_mode(params, LONGITUDINAL_MODE_DYNAMIC)
+
+  assert get_longitudinal_mode(params) == LONGITUDINAL_MODE_DYNAMIC
+  assert get_follow_distance_state(params) == (PERSONALITY_AGGRESSIVE, True)
+
+
+def test_stock_mode_sanitizes_legacy_stock_personality_value():
+  params = Params(3)
+
+  apply_longitudinal_mode(params, LONGITUDINAL_MODE_STOCK)
+
+  assert get_follow_distance_state(params) == (None, False)
+  assert params.values["LongitudinalPersonality"] == PERSONALITY_RELAXED
+  assert params.personality_writes == [PERSONALITY_RELAXED]
+
+
+def test_chill_mode_forces_relaxed_personality():
+  params = Params(PERSONALITY_AGGRESSIVE)
+
+  apply_longitudinal_mode(params, LONGITUDINAL_MODE_CHILL)
+
+  assert get_follow_distance_state(params) == (PERSONALITY_RELAXED, False)
+  assert get_runtime_personality(params) == PERSONALITY_RELAXED
+  assert params.values["LongitudinalPersonality"] == PERSONALITY_RELAXED
+  assert params.personality_writes == [PERSONALITY_RELAXED]
+
+
+def test_dynamic_and_pilot_enable_valid_personality_selection():
+  params = Params(PERSONALITY_STANDARD)
+
+  assert get_follow_distance_state(params) == (PERSONALITY_STANDARD, True)
+
+  params.values["IQDynamicMode"] = False
+
+  assert get_follow_distance_state(params) == (PERSONALITY_STANDARD, True)