IQ.Pilot Prebuilt Release @ 7a91404

artifacts/package_runtime/iqdbc/car/hyundai/tests/test_integration.py

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+import pytest
+
+from iqdbc.car import gen_empty_fingerprint, structs
+from iqdbc.car.hyundai.interface import CarInterface
+from iqdbc.car.hyundai.values import CAR, HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
+
+
+@pytest.mark.parametrize("candidate", list(CAR), ids=lambda candidate: candidate.value)
+@pytest.mark.parametrize("alpha_long", (False, True), ids=("stock_long", "openpilot_long"))
+def test_all_platform_state_controller_and_radar(candidate, alpha_long, monkeypatch, tmp_path):
+  """Every declared HKG platform must initialize and execute one complete interface cycle."""
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path / candidate.value))
+  fingerprint = gen_empty_fingerprint()
+
+  cp = CarInterface.get_params(candidate, fingerprint, [], alpha_long, False, False)
+  cp_iq = CarInterface.get_params_iq(cp, candidate, fingerprint, [], alpha_long, False, False)
+  interface = CarInterface(cp, cp_iq)
+
+  state, state_iq = interface.update([])
+  actuators, can_sends = interface.apply(structs.CarControl().as_reader(), structs.IQCarControl())
+  radar = interface.RadarInterface(cp, cp_iq)
+  radar_result = radar.update([])
+
+  assert state.vEgo == 0.0
+  assert state_iq is not None
+  assert actuators is not None
+  assert isinstance(can_sends, list)
+  assert radar_result is None
+
+
+def test_parameter_defaults_do_not_require_persisted_fingerprint(monkeypatch, tmp_path):
+  """A clean installation must not crash when carrotpilot-specific Params have not been written yet."""
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
+  fingerprint = gen_empty_fingerprint()
+
+  cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+  cp_iq = CarInterface.get_params_iq(cp, CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+  interface = CarInterface(cp, cp_iq)
+
+  state, _ = interface.update([])
+  assert state.vEgo == 0.0
+
+
+def test_classic_lfa_button_capability_survives_iq_module_removal(monkeypatch, tmp_path):
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
+  fingerprint = gen_empty_fingerprint()
+  fingerprint[0][0x391] = 8
+
+  cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+  cp_iq = CarInterface.get_params_iq(cp, CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+
+  assert cp_iq.flags & HyundaiFlagsIQ.HAS_LFA_BUTTON
+  assert cp_iq.iqSafetyFlags & HyundaiSafetyFlagsIQ.HAS_LDA_BUTTON