142 lines
4.7 KiB
Python
142 lines
4.7 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
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"""
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import pytest
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from iqpilot.selfdrive.longitudinal_settings import (
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LONGITUDINAL_MODE_CHILL,
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LONGITUDINAL_MODE_DYNAMIC,
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LONGITUDINAL_MODE_PILOT,
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LONGITUDINAL_MODE_STOCK,
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PERSONALITY_AGGRESSIVE,
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PERSONALITY_RELAXED,
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PERSONALITY_STANDARD,
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PERSONALITY_VALUES,
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apply_longitudinal_mode,
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get_follow_distance_state,
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get_longitudinal_mode,
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get_runtime_personality,
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longitudinal_mode_needs_cycle,
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next_longitudinal_mode,
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set_valid_personality,
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)
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class Params:
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def __init__(self, personality=PERSONALITY_STANDARD):
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self.values = {
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"AlphaLongitudinalEnabled": True,
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"ExperimentalMode": True,
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"IQDynamicMode": True,
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"LongitudinalPersonality": personality,
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}
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self.personality_writes = []
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def get(self, key, return_default=False):
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return self.values[key]
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def get_bool(self, key):
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return bool(self.values[key])
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def put(self, key, value):
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self.values[key] = value
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if key == "LongitudinalPersonality":
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self.personality_writes.append(value)
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def put_bool(self, key, value):
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self.values[key] = bool(value)
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def test_personality_writer_rejects_stock_value():
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params = Params()
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with pytest.raises(ValueError):
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set_valid_personality(params, 3)
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assert params.personality_writes == []
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def test_mode_paths_only_write_valid_personalities():
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params = Params(PERSONALITY_AGGRESSIVE)
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for mode in range(4):
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apply_longitudinal_mode(params, mode)
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assert all(value in PERSONALITY_VALUES for value in params.personality_writes)
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def test_stock_mode_preserves_personality_and_dynamic_restores_it():
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params = Params(PERSONALITY_AGGRESSIVE)
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apply_longitudinal_mode(params, LONGITUDINAL_MODE_STOCK)
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assert get_follow_distance_state(params) == (None, False)
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assert get_runtime_personality(params) == PERSONALITY_AGGRESSIVE
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assert params.values["LongitudinalPersonality"] == PERSONALITY_AGGRESSIVE
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assert params.personality_writes == []
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apply_longitudinal_mode(params, LONGITUDINAL_MODE_DYNAMIC)
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assert get_longitudinal_mode(params) == LONGITUDINAL_MODE_DYNAMIC
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assert get_follow_distance_state(params) == (PERSONALITY_AGGRESSIVE, True)
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def test_stock_mode_sanitizes_legacy_stock_personality_value():
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params = Params(3)
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apply_longitudinal_mode(params, LONGITUDINAL_MODE_STOCK)
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assert get_follow_distance_state(params) == (None, False)
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assert params.values["LongitudinalPersonality"] == PERSONALITY_RELAXED
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assert params.personality_writes == [PERSONALITY_RELAXED]
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def test_chill_mode_forces_relaxed_personality():
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params = Params(PERSONALITY_AGGRESSIVE)
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apply_longitudinal_mode(params, LONGITUDINAL_MODE_CHILL)
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assert get_follow_distance_state(params) == (PERSONALITY_RELAXED, False)
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assert get_runtime_personality(params) == PERSONALITY_RELAXED
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assert params.values["LongitudinalPersonality"] == PERSONALITY_RELAXED
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assert params.personality_writes == [PERSONALITY_RELAXED]
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def test_dynamic_and_pilot_enable_valid_personality_selection():
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params = Params(PERSONALITY_STANDARD)
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assert get_follow_distance_state(params) == (PERSONALITY_STANDARD, True)
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params.values["IQDynamicMode"] = False
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assert get_follow_distance_state(params) == (PERSONALITY_STANDARD, True)
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def test_onroad_cycles_only_between_iq_modes():
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assert next_longitudinal_mode(LONGITUDINAL_MODE_CHILL, True, True) == LONGITUDINAL_MODE_DYNAMIC
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assert next_longitudinal_mode(LONGITUDINAL_MODE_DYNAMIC, True, True) == LONGITUDINAL_MODE_PILOT
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assert next_longitudinal_mode(LONGITUDINAL_MODE_PILOT, True, True) == LONGITUDINAL_MODE_CHILL
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def test_onroad_stock_acc_is_locked():
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assert next_longitudinal_mode(LONGITUDINAL_MODE_STOCK, True, True) == LONGITUDINAL_MODE_STOCK
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assert next_longitudinal_mode(LONGITUDINAL_MODE_STOCK, True, False) == LONGITUDINAL_MODE_STOCK
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def test_offroad_cycles_through_stock_acc():
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assert next_longitudinal_mode(LONGITUDINAL_MODE_PILOT, False, True) == LONGITUDINAL_MODE_STOCK
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assert next_longitudinal_mode(LONGITUDINAL_MODE_STOCK, False, True) == LONGITUDINAL_MODE_CHILL
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def test_offroad_without_iq_modes_only_offers_stock_acc():
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assert next_longitudinal_mode(LONGITUDINAL_MODE_STOCK, False, False) == LONGITUDINAL_MODE_STOCK
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assert next_longitudinal_mode(LONGITUDINAL_MODE_PILOT, False, False) == LONGITUDINAL_MODE_STOCK
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def test_cycle_only_when_crossing_stock_boundary():
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assert longitudinal_mode_needs_cycle(LONGITUDINAL_MODE_STOCK, LONGITUDINAL_MODE_CHILL)
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assert longitudinal_mode_needs_cycle(LONGITUDINAL_MODE_PILOT, LONGITUDINAL_MODE_STOCK)
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assert not longitudinal_mode_needs_cycle(LONGITUDINAL_MODE_CHILL, LONGITUDINAL_MODE_PILOT)
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assert not longitudinal_mode_needs_cycle(LONGITUDINAL_MODE_DYNAMIC, LONGITUDINAL_MODE_CHILL)
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