IQ.Pilot Release Commit @ 5bc9cd3

iqdbc_repo/iqdbc/car/toyota/tests/test_toyota_iq.py

@@ -0,0 +1,36 @@
+from iqdbc.car import gen_empty_fingerprint, structs
+from iqdbc.car.toyota.interface import CarInterface
+from iqdbc.car.toyota.values import CAR, ToyotaFlags
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
+
+
+def test_secoc_toyota_not_dashcam_on_release():
+  # SecOC Toyotas are controllable regardless of branch or fingerprint source.
+  candidate = CAR.TOYOTA_SIENNA_4TH_GEN
+
+  # is_release=True (release branch) must not force dashcam mode
+  cp = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, True, False)
+  assert cp.flags & ToyotaFlags.SECOC.value
+  assert cp.secOcRequired
+  assert not cp.dashcamOnly
+
+  # fw/can-sourced fingerprint (not forced) must also stay controllable
+  cp.fingerprintSource = structs.CarParams.FingerprintSource.can
+  CarInterface.get_params_iq(cp, candidate, gen_empty_fingerprint(), [], False, True, False)
+  assert not cp.dashcamOnly
+
+
+def test_smart_dsu_clears_disable_radar_on_radar_acc_toyota():
+  candidate = CAR.TOYOTA_CHR_TSS2
+  fingerprint = gen_empty_fingerprint()
+  fingerprint[0][0x2FF] = 8
+
+  cp = CarInterface.get_params(candidate, fingerprint, [], True, False, False)
+  assert cp.flags & ToyotaFlags.DISABLE_RADAR.value
+
+  cp_iq = CarInterface.get_params_iq(cp, candidate, fingerprint, [], True, False, False)
+
+  assert cp_iq.flags & ToyotaFlagsIQ.SMART_DSU.value
+  assert not (cp.flags & ToyotaFlags.DISABLE_RADAR.value)
+  assert cp.alphaLongitudinalAvailable
+  assert cp.openpilotLongitudinalControl