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