IQ.Pilot Prebuilt Release @ ab07000

common/tests/.gitignore

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+test_common

common/tests/test_file_helpers.py

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+import os
+from uuid import uuid4
+
+from openpilot.common.utils import atomic_write
+
+
+class TestFileHelpers:
+  def run_atomic_write_func(self, atomic_write_func):
+    path = f"/tmp/tmp{uuid4()}"
+    with atomic_write_func(path) as f:
+      f.write("test")
+      assert not os.path.exists(path)
+
+    with open(path) as f:
+      assert f.read() == "test"
+    os.remove(path)
+
+  def test_atomic_write(self):
+    self.run_atomic_write_func(atomic_write)

common/tests/test_markdown.py

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+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.markdown import parse_markdown
+
+
+class TestMarkdown:
+  def test_all_release_notes(self):
+    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
+      release_notes = f.read().split("\n\n")
+      assert len(release_notes) > 10
+
+      for rn in release_notes:
+        md = parse_markdown(rn)
+        assert len(md) > 0

common/tests/test_params.py

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+import pytest
+import datetime
+import os
+import threading
+import time
+import uuid
+
+from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
+
+class TestParams:
+  def setup_method(self):
+    self.params = Params()
+
+  def test_params_put_and_get(self):
+    self.params.put("DongleId", "cb38263377b873ee")
+    assert self.params.get("DongleId") == "cb38263377b873ee"
+
+  def test_params_non_ascii(self):
+    st = b"\xe1\x90\xff"
+    self.params.put("CarParams", st)
+    assert self.params.get("CarParams") == st
+
+  def test_params_get_cleared_manager_start(self):
+    self.params.put("CarParams", b"test")
+    self.params.put("DongleId", "cb38263377b873ee")
+    assert self.params.get("CarParams") == b"test"
+
+    undefined_param = self.params.get_param_path(uuid.uuid4().hex)
+    with open(undefined_param, "w") as f:
+      f.write("test")
+    assert os.path.isfile(undefined_param)
+
+    self.params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
+    assert self.params.get("CarParams") is None
+    assert self.params.get("DongleId") is not None
+    assert not os.path.isfile(undefined_param)
+
+  def test_params_two_things(self):
+    self.params.put("DongleId", "bob")
+    self.params.put("AthenadPid", 123)
+    assert self.params.get("DongleId") == "bob"
+    assert self.params.get("AthenadPid") == 123
+
+  def test_params_get_block(self):
+    def _delayed_writer():
+      time.sleep(0.1)
+      self.params.put("CarParams", b"test")
+    threading.Thread(target=_delayed_writer).start()
+    assert self.params.get("CarParams") is None
+    assert self.params.get("CarParams", block=True) == b"test"
+
+  def test_params_unknown_key_fails(self):
+    with pytest.raises(UnknownKeyName):
+      self.params.get("swag")
+
+    with pytest.raises(UnknownKeyName):
+      self.params.get_bool("swag")
+
+    with pytest.raises(UnknownKeyName):
+      self.params.put("swag", "abc")
+
+    with pytest.raises(UnknownKeyName):
+      self.params.put_bool("swag", True)
+
+  def test_remove_not_there(self):
+    assert self.params.get("CarParams") is None
+    self.params.remove("CarParams")
+    assert self.params.get("CarParams") is None
+
+  def test_get_bool(self):
+    self.params.remove("IsMetric")
+    assert not self.params.get_bool("IsMetric")
+
+    self.params.put_bool("IsMetric", True)
+    assert self.params.get_bool("IsMetric")
+
+    self.params.put_bool("IsMetric", False)
+    assert not self.params.get_bool("IsMetric")
+
+    self.params.put("IsMetric", True)
+    assert self.params.get_bool("IsMetric")
+
+    self.params.put("IsMetric", False)
+    assert not self.params.get_bool("IsMetric")
+
+  def test_navigation_disabled_default(self):
+    self.params.remove("NavigationEnabled")
+    assert not self.params.get_bool("NavigationEnabled")
+
+  def test_put_non_blocking_with_get_block(self):
+    q = Params()
+    def _delayed_writer():
+      time.sleep(0.1)
+      Params().put_nonblocking("CarParams", b"test")
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"test"
+
+  def test_put_bool_non_blocking_with_get_block(self):
+    q = Params()
+    def _delayed_writer():
+      time.sleep(0.1)
+      Params().put_bool_nonblocking("CarParams", True)
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"1"
+
+  def test_params_all_keys(self):
+    keys = Params().all_keys()
+
+    # sanity checks
+    assert len(keys) > 20
+    assert len(keys) == len(set(keys))
+    assert b"CarParams" in keys
+
+  def test_params_default_value(self):
+    self.params.remove("LanguageSetting")
+    self.params.remove("LongitudinalPersonality")
+    self.params.remove("LiveParameters")
+
+    assert self.params.get("LanguageSetting") is None
+    assert self.params.get("LanguageSetting", return_default=False) is None
+    assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
+    assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
+    assert self.params.get("LiveParameters") is None
+    assert self.params.get("LiveParameters", return_default=True) is None
+
+  def test_params_get_type(self):
+    # json
+    self.params.put("ApiCache_FirehoseStats", {"a": 0})
+    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
+
+    # int
+    self.params.put("BootCount", 1441)
+    assert self.params.get("BootCount") == 1441
+
+    # bool
+    self.params.put("AdbEnabled", True)
+    assert self.params.get("AdbEnabled")
+    assert isinstance(self.params.get("AdbEnabled"), bool)
+
+    # time
+    now = datetime.datetime.now(datetime.UTC)
+    self.params.put("InstallDate", now)
+    assert self.params.get("InstallDate") == now

common/tests/test_simple_kalman.py

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+from openpilot.common.simple_kalman import KF1D
+
+
+class TestSimpleKalman:
+  def setup_method(self):
+    dt = 0.01
+    x0_0 = 0.0
+    x1_0 = 0.0
+    A0_0 = 1.0
+    A0_1 = dt
+    A1_0 = 0.0
+    A1_1 = 1.0
+    C0_0 = 1.0
+    C0_1 = 0.0
+    K0_0 = 0.12287673
+    K1_0 = 0.29666309
+
+    self.kf = KF1D(x0=[[x0_0], [x1_0]],
+                   A=[[A0_0, A0_1], [A1_0, A1_1]],
+                   C=[C0_0, C0_1],
+                   K=[[K0_0], [K1_0]])
+
+  def test_getter_setter(self):
+    self.kf.set_x([[1.0], [1.0]])
+    assert self.kf.x == [[1.0], [1.0]]
+
+  def test_update_returns_state(self):
+    x = self.kf.update(100)
+    assert x == [i[0] for i in self.kf.x]