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Qualify SLC receipt retention and aligned SET behavior

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Dom
2026-10-27 01:20:39 -05:00
parent 6f3e156abd
commit cb16d27d3d
1 changed files with 20 additions and 3 deletions
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openpilot/starpilot/ui/tests/test_slc_retention.py
+20 -3
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@@ -71,10 +71,11 @@ def test_live_offset_edits_keep_the_accepted_limit_and_native_ceiling(tmp_path,
session = runtime.session_id
for milliseconds, offset in ((1000, 5), (2000, -5)):
params.put('SLCOffsetSchedule', od.to_value(od.adopt_legacy(False, (0, 0, 0, offset, 0, 0, 0))), block=True)
actions, cruise = [object()], [object()]
receipt = object()
actions, cruise = [object()], [receipt]
refreshed, changed = lifecycle.refresh(NOW + milliseconds * 1_000_000, pending_actions=actions, pending_cruise=cruise)
assert changed and refreshed is runtime
assert not actions and not cruise
assert not actions and cruise == [receipt]
output, _, target = drive.step(milliseconds, received=not source_gap)
assert not output.result.errors
assert runtime.session_id == session
@@ -340,10 +341,26 @@ def test_unchanged_map_speed_does_not_accept_new_identity_or_keep_old_prompt(tmp
pending, _, _ = drive.step(150, limit=50, wayId=124)
assert pending.message.slcState.hasPending
recovered, _, target = drive.step(200)
assert target == pytest.approx(published_cruise_mph(45), rel=0, abs=1e-10) and recovered.message.slcState.hasPending
assert target == pytest.approx(published_cruise_mph(45), rel=0, abs=1e-10)
assert not recovered.message.slcState.hasPending and recovered.command is None
assert recovered.message.slcState.acceptedSpeedLimit == pytest.approx(45 * MPH)
assert recovered.message.slcState.decisionId != pending.message.slcState.decisionId
assert recovered.message.slcState.presentationId != pending.message.slcState.presentationId
assert not drive.step(250)[0].result.errors
def test_returned_map_limit_still_requires_confirmation_when_set_is_unaligned(tmp_path):
drive = RetentionDrive(tmp_path, confirm=True)
first, _, _ = drive.step(0)
pending, _, _ = drive.step(50, limit=50, wayId=124)
returned, _, target = drive.step(100)
assert first.message.slcState.hasPending and pending.message.slcState.hasPending
assert returned.message.slcState.hasPending and not returned.message.slcState.hasAccepted
assert returned.command is None and returned.result.acceptance.history_write is None
assert returned.message.slcState.decisionId != pending.message.slcState.decisionId
assert target == pytest.approx(published_cruise_mph(70, software_target=False), rel=0, abs=1e-10)
def test_retention_respects_lower_max_secondary_source_and_reset(tmp_path):
drive = RetentionDrive(tmp_path / 'max')
drive.step(0)