IQ.Lvbs CI [bot]
95 lines
2.5 KiB
Python
95 lines
2.5 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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from types import SimpleNamespace
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from cereal import custom
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from opendbc.car import structs
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from opendbc.car.hyundai.values import HyundaiFlags
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from openpilot.iqpilot.aol.aol import AlwaysOnLateral
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from openpilot.iqpilot.selfdrive.selfdrived.events import IQEvents
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from openpilot.selfdrive.selfdrived.events import Events
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ButtonType = structs.CarState.ButtonEvent.Type
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EventNameIQ = custom.IQOnroadEvent.EventName
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class MockParams:
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def get_bool(self, key: str) -> bool:
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return {
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"AolEnabled": True,
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"AolMainCruiseAllowed": False,
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"AolUnifiedEngagementMode": False,
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"JoystickDebugMode": False,
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}.get(key, False)
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def get(self, key: str, return_default: bool = False):
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if key == "AolSteeringMode":
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return 0 if return_default else b"0"
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return None
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def remove(self, key: str) -> None:
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return None
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def make_selfdrive(cp_flags: int):
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cp = SimpleNamespace(
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brand="hyundai",
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flags=cp_flags,
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passive=False,
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safetyModel=structs.CarParams.SafetyModel.noOutput,
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)
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cp_iq = SimpleNamespace(flags=0)
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return SimpleNamespace(
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CP=cp,
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CP_IQ=cp_iq,
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params=MockParams(),
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state_machine=SimpleNamespace(soft_disable_timer=0, current_alert_types=[]),
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events=Events(),
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events_iq=IQEvents(),
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CS_prev=SimpleNamespace(
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gasPressed=False,
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cruiseState=SimpleNamespace(available=False),
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lateralAvailable=False,
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),
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enabled=False,
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enabled_prev=False,
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initialized=True,
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)
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def make_car_state():
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return SimpleNamespace(
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started=True,
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standstill=False,
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doorOpen=False,
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seatbeltUnlatched=False,
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gearShifter=structs.CarState.GearShifter.drive,
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vEgo=0.0,
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gasPressed=False,
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brakePressed=False,
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cruiseState=SimpleNamespace(available=False),
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lateralAvailable=False,
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buttonEvents=[structs.CarState.ButtonEvent(pressed=True, type=ButtonType.lkas)],
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)
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def test_hyundai_lkas_button_can_enable_aol_with_lda_button_before_lateral_available():
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selfdrive = make_selfdrive(HyundaiFlags.HAS_LDA_BUTTON)
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aol = AlwaysOnLateral(selfdrive)
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aol.update_events(make_car_state())
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assert selfdrive.events_iq.has(EventNameIQ.lkasEnable)
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def test_hyundai_lkas_button_does_not_enable_aol_without_hyundai_always_toggle_support():
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selfdrive = make_selfdrive(0)
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aol = AlwaysOnLateral(selfdrive)
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aol.update_events(make_car_state())
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assert not selfdrive.events_iq.has(EventNameIQ.lkasEnable)
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