"""Pair selection only; these operands grant no native or application authority.""" from types import SimpleNamespace import unittest from typing import TYPE_CHECKING, cast if TYPE_CHECKING: from openpilot.starpilot.flm.live_tracking import LiveTrackingOptimizer from openpilot.starpilot.flm.live_tracking_episodes import TrackingEpisodeBuilder from openpilot.starpilot.flm.live_tracking_ingress import LiveTrackingIngress def subject(source_tracking=True): owner = object.__new__(LiveTrackingIngress) owner.binding = SimpleNamespace(identity='1'*64, source_epoch='2'*64, baseline_revision='3'*64, controller_revision='revision', native_identity='4'*64, native_required=True) owner.episodes = cast("TrackingEpisodeBuilder", SimpleNamespace(source_tracking=source_tracking)) owner.optimizer = cast("LiveTrackingOptimizer", SimpleNamespace(lag_ns=0)) owner.last_coordinates = owner.last_profile = None return owner def pair(owner, ns): control = SimpleNamespace(**vars(owner.binding), generation=1, live_applied_coordinates=(), effect_trace=None, applied_coordinates=(0., 0.)) return control, SimpleNamespace(apply_ns=ns) class TestTrackingPoseInterval(unittest.TestCase): def test_same_original_emission_works_for_both_protocols(self): for source_tracking in (False, True): owner = subject(source_tracking) row = pair(owner, 1_000_000_000) pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_007_000_000) selected = owner.original_pose_pair([row], pose) assert selected[0] is row[0] and selected[1] is row[1] def test_source_tracking_keeps_original_earlier_causal_emission(self): owner = subject() rows = [pair(owner, 1_000_000_000), pair(owner, 1_010_000_000)] pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_015_000_000) selected = owner.original_pose_pair(rows, pose) assert selected[0] is rows[0][0] and selected[1] is rows[0][1] assert rows[0][1].apply_ns == 1_000_000_000 def test_plant_model_keeps_single_emission_requirement(self): owner = subject(False) rows = [pair(owner, 1_000_000_000), pair(owner, 1_010_000_000)] pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_015_000_000) assert owner.original_pose_pair(rows, pose) is None def test_source_ramp_keeps_original_causal_pair(self): owner = subject() rows = [pair(owner, 1_000_000_000), pair(owner, 1_010_000_000)] rows[1][0].live_applied_coordinates = (0.001,)+(0.,)*29 pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_015_000_000) selected = owner.original_pose_pair(rows, pose) assert selected[0] is rows[0][0] and selected[1] is rows[0][1] def test_crossing_source_or_generation_change_is_rejected(self): for name, value in (('source_epoch', '5'*64), ('generation', 2)): owner = subject() rows = [pair(owner, 1_000_000_000), pair(owner, 1_010_000_000)] setattr(rows[1][0], name, value) pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_015_000_000) assert owner.original_pose_pair(rows, pose) is None def test_original_thirty_millisecond_join_limit_is_kept(self): owner = subject() row = pair(owner, 1_000_000_000) pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_031_000_000) assert owner.original_pose_pair([row], pose) is None def test_no_preceding_original_emission_is_not_filled(self): owner = subject() row = pair(owner, 1_010_000_000) pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_015_000_000) assert owner.original_pose_pair([row], pose) is None def test_unknown_consumed_profile_is_not_assumed_neutral(self): owner = subject() rows = [pair(owner, 1_000_000_000), pair(owner, 1_010_000_000)] rows[1][0].applied_coordinates = (0.001, 0.) pose = SimpleNamespace(source_lower_ns=1_005_000_000, source_upper_ns=1_015_000_000) assert owner.original_pose_pair(rows, pose) is None class TestSourceWindowProbeDeferral(unittest.TestCase): def builder(self, source_tracking): from dataclasses import replace from openpilot.starpilot.flm.tests.test_live_tracking_episodes import completed_builder builder = completed_builder(count=4, error=0.2) builder.source_tracking = source_tracking builder.defer_unprobed = True builder.numerical_observed_ns = 2_000_000_000 if source_tracking: builder.endpoints = type(builder.endpoints)( (replace(point, reference_ns=point.control_ns) for point in builder.endpoints), maxlen=320) return builder def test_short_source_curve_waits_for_original_probe_support(self): builder = self.builder(True) builder._finish() assert len(builder.completed) == 1 assert not builder.drain(now_ns=2_000_000_001) row = next(iter(builder.completed.values())) assert row['episode'].kind == 'large' assert row['deadline'] == 32_000_000_000 def test_probe_deadline_is_unchanged_and_missing_support_stays_partial(self): builder = self.builder(True) builder._finish() assert not builder.drain(now_ns=31_999_999_999) episode, = builder.drain(now_ns=32_000_000_000) assert not episode.native_gradient_complete assert episode.sensitivity == () def test_non_tracking_large_curve_keeps_existing_behavior(self): builder = self.builder(False) builder._finish() assert not builder.completed episode, = builder.drain(now_ns=2_000_000_001) assert episode.kind == 'large' class TestSourceExperimentEntry(unittest.TestCase): def test_one_measured_window_can_select_source_experiment(self): from openpilot.starpilot.flm.live_tracking import _discovery_support row = SimpleNamespace(error_rms=0.02) assert _discovery_support((row,), 'subtle', None) == ((row,), 1) assert _discovery_support((), 'subtle', None) == ((), None) assert _discovery_support((row,), 'subtle', 0.001) == ((), None) def test_source_experiment_still_allocates_three_fresh_baseline_windows(self): from openpilot.starpilot.flm.live_tracking import LiveTrackingOptimizer # Exercise the real allocation without manufacturing source/native authority. function = next(value for name, value in vars(LiveTrackingOptimizer).items() if name == '_comparison_allocation') scope = dict(function.__globals__) scope['_matches'] = lambda a, b: True from types import FunctionType allocation = FunctionType(function.__code__, scope) owner = SimpleNamespace(rmse=None, binding='binding', accepted=dict.fromkeys(scope['NAMES'], 0.), lag_ns=0) owner.planning_history = [SimpleNamespace(binding='binding', profile_sha256='profile', end_ns=n*2_000_000_000) for n in (1,2,3)] episode = SimpleNamespace(kind='subtle', profile_sha256='profile', end_ns=6_000_000_000) target = dict(owner.accepted) target[next(iter(target))] = .005 assert allocation(owner, episode, .001, target, minimum_episodes=1) == (3,3)