IQ.Pilot Prebuilt Release @ ab07000

iqpilot/sab/tests/test_sab.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from types import SimpleNamespace
+
+from cereal import custom
+from iqdbc.car import structs
+from iqdbc.car.hyundai.values import HyundaiFlags, HyundaiFlagsIQ
+from openpilot.iqpilot.sab.behavior import SteeringAssistanceBehavior
+from openpilot.iqpilot.selfdrive.selfdrived.events import IQEvents
+from openpilot.selfdrive.selfdrived.events import Events
+
+
+ButtonType = structs.CarState.ButtonEvent.Type
+EventNameIQ = custom.IQOnroadEvent.EventName
+
+
+class MockParams:
+  def __init__(self, main_cruise_allowed: bool = False, aol_enabled: bool = True):
+    self.main_cruise_allowed = main_cruise_allowed
+    self.aol_enabled = aol_enabled
+
+  def get_bool(self, key: str) -> bool:
+    return {
+      "AolEnabled": self.aol_enabled,
+      "AolMainCruiseAllowed": self.main_cruise_allowed,
+      "AolUnifiedEngagementMode": False,
+      "JoystickDebugMode": False,
+    }.get(key, False)
+
+  def get(self, key: str, return_default: bool = False):
+    if key == "AolSteeringMode":
+      return 0 if return_default else b"0"
+    return None
+
+  def remove(self, key: str) -> None:
+    return None
+
+
+def make_selfdrive(cp_flags: int, brand: str = "hyundai", main_cruise_allowed: bool = False,
+                   aol_enabled: bool = True, cp_iq_flags: int = 0):
+  cp = SimpleNamespace(
+    brand=brand,
+    flags=cp_flags,
+    passive=False,
+    notCar=False,
+    safetyModel=structs.CarParams.SafetyModel.noOutput,
+  )
+  cp_iq = SimpleNamespace(flags=cp_iq_flags)
+  return SimpleNamespace(
+    CP=cp,
+    CP_IQ=cp_iq,
+    params=MockParams(main_cruise_allowed, aol_enabled),
+    state_machine=SimpleNamespace(soft_disable_timer=0, current_alert_types=[]),
+    events=Events(),
+    events_iq=IQEvents(),
+    CS_prev=SimpleNamespace(
+      gasPressed=False,
+      cruiseState=SimpleNamespace(available=False),
+      lateralAvailable=False,
+    ),
+    enabled=False,
+    enabled_prev=False,
+    initialized=True,
+  )
+
+
+def make_car_state():
+  return SimpleNamespace(
+    started=True,
+    standstill=False,
+    doorOpen=False,
+    seatbeltUnlatched=False,
+    gearShifter=structs.CarState.GearShifter.drive,
+    vEgo=0.0,
+    gasPressed=False,
+    brakePressed=False,
+    cruiseState=SimpleNamespace(available=False),
+    lateralAvailable=False,
+    buttonEvents=[structs.CarState.ButtonEvent(pressed=True, type=ButtonType.lkas)],
+  )
+
+
+def make_vw_car_state(cruise_available: bool, cruise_fault_lateral: bool = False):
+  return SimpleNamespace(
+    started=True,
+    standstill=False,
+    doorOpen=False,
+    seatbeltUnlatched=False,
+    gearShifter=structs.CarState.GearShifter.drive,
+    vEgo=0.0,
+    gasPressed=False,
+    brakePressed=False,
+    cruiseState=SimpleNamespace(available=cruise_available),
+    lateralAvailable=cruise_available or cruise_fault_lateral,
+    cruiseFaultLateralMode=cruise_fault_lateral,
+    buttonEvents=[],
+  )
+
+
+def test_hyundai_lkas_button_can_arm_guidance_before_lateral_available():
+  selfdrive = make_selfdrive(0, cp_iq_flags=HyundaiFlagsIQ.HAS_LFA_BUTTON)
+  guidance = SteeringAssistanceBehavior(selfdrive)
+  car_state = make_car_state()
+  car_state.buttonEvents = [structs.CarState.ButtonEvent(pressed=True, type=ButtonType.lfaButton)]
+
+  guidance.update_events(car_state)
+
+  assert selfdrive.events_iq.has(EventNameIQ.alcEngaged)
+
+
+def test_hyundai_lkas_button_stays_inactive_without_platform_support():
+  selfdrive = make_selfdrive(0)
+  guidance = SteeringAssistanceBehavior(selfdrive)
+
+  guidance.update_events(make_car_state())
+
+  assert not selfdrive.events_iq.has(EventNameIQ.alcEngaged)
+
+
+def test_main_cruise_drop_cuts_guidance_even_if_lateral_signal_stays_true():
+  selfdrive = make_selfdrive(0, brand="volkswagen", main_cruise_allowed=True)
+  selfdrive.CS_prev = make_vw_car_state(cruise_available=True)
+  guidance = SteeringAssistanceBehavior(selfdrive)
+  guidance.enabled = True
+
+  guidance.update_events(make_vw_car_state(cruise_available=False))
+
+  assert selfdrive.events_iq.has(EventNameIQ.alcDisengaged)
+
+
+def test_faulted_lateral_mode_does_not_force_disable_guidance():
+  selfdrive = make_selfdrive(0, brand="volkswagen", main_cruise_allowed=True)
+  selfdrive.CS_prev = make_vw_car_state(cruise_available=True)
+  guidance = SteeringAssistanceBehavior(selfdrive)
+  guidance.enabled = True
+
+  guidance.update_events(make_vw_car_state(cruise_available=False, cruise_fault_lateral=True))
+
+  assert not selfdrive.events_iq.has(EventNameIQ.alcDisengaged)
+
+
+def test_main_switch_rising_edge_arms_guidance_during_faulted_cruise():
+  selfdrive = make_selfdrive(0, brand="volkswagen", main_cruise_allowed=True)
+  selfdrive.CS_prev = make_vw_car_state(cruise_available=False, cruise_fault_lateral=False)
+  guidance = SteeringAssistanceBehavior(selfdrive)
+
+  guidance.update_events(make_vw_car_state(cruise_available=False, cruise_fault_lateral=True))
+
+  assert selfdrive.events_iq.has(EventNameIQ.alcEngaged)
+
+
+def test_main_cruise_rising_edge_does_not_engage_when_toggle_is_off():
+  selfdrive = make_selfdrive(0, brand="volkswagen", main_cruise_allowed=True, aol_enabled=False)
+  selfdrive.CS_prev = make_vw_car_state(cruise_available=False)
+  guidance = SteeringAssistanceBehavior(selfdrive)
+
+  guidance.update(make_vw_car_state(cruise_available=True))
+
+  assert not selfdrive.events_iq.has(EventNameIQ.alcEngaged)
+  assert not guidance.active
+  assert not guidance.enabled
+  assert guidance.state_machine.state == custom.AlwaysOnLateral.AlwaysOnLateralState.disabled
+
+
+def test_main_cruise_rising_edge_engages_when_toggle_is_on():
+  selfdrive = make_selfdrive(0, brand="volkswagen", main_cruise_allowed=True, aol_enabled=True)
+  selfdrive.CS_prev = make_vw_car_state(cruise_available=False)
+  guidance = SteeringAssistanceBehavior(selfdrive)
+
+  guidance.update(make_vw_car_state(cruise_available=True))
+
+  assert selfdrive.events_iq.has(EventNameIQ.alcEngaged)
+  assert guidance.active