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https://github.com/firestar5683/StarPilot.git
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firestar5683
109 lines
4.4 KiB
Python
109 lines
4.4 KiB
Python
"""Numerical state-machine regressions; no source/native/road authority."""
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from dataclasses import replace
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import unittest
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from openpilot.starpilot.flm.tests.test_tracking_source_context import owner, refresh
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from openpilot.starpilot.flm.tests.test_live_tracking import episode
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from openpilot.starpilot.flm.live_tracking import _demand
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def pending_recovery():
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o = owner()
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old = replace(episode(o, 0, 'ff_gain_left'), normalization_accel=0.5)
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o.selector_hint = {
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'group': 'ff.left',
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'name': 'ff_gain_left',
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'delta': 0.005,
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'demand': _demand(old),
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'binding': o.binding,
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'profile_sha256': o._hash(o.accepted),
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'model_revision': o.certificate.model_revision,
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'controller_domain': o.domain,
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'selected_ns': old.end_ns,
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'expires_ns': old.end_ns + 600_000_000_000,
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'source_episode_ids': (old.episode_id,),
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'quota': 1,
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'minimum_episodes': 1,
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}
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o.selector_pending = True
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o.selector_after_ns = old.end_ns
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return o, old
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class SourceRecoveryProgress(unittest.TestCase):
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def test_old_left_hint_does_not_swallow_new_right_windows(self):
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o, old = pending_recovery()
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discovery = set()
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for i in range(2, 7):
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e = replace(episode(o, i, 'ff_gain_right'), normalization_accel=0.5)
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refresh(o, e.end_ns)
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o.observe_episode(e, now_ns=e.end_ns)
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if i < 4:
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discovery.add(e.episode_id)
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assert o.offer_state is not None and o.offer_state['names'] == ('ff_gain_right',)
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assert len(o.before) == 3 and discovery.isdisjoint(e.episode_id for e in o.before)
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assert not any(o.accepted.values())
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def test_missing_old_native_effect_does_not_hide_another_hook(self):
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o, old = pending_recovery()
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for i in range(2, 7):
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e = replace(episode(o, i, 'center_taper_max', kind='large'), normalization_accel=0.5)
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refresh(o, e.end_ns)
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o.observe_episode(e, now_ns=e.end_ns)
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assert o.offer_state is not None and o.offer_state['names'] == ('center_taper_max',)
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assert len(o.before) == 3 and not any(o.accepted.values())
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def test_missing_response_still_cannot_resume_or_launch(self):
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o, old = pending_recovery()
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e = replace(episode(o, 2, 'ff_gain_left'), normalization_accel=0.5)
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o.response_witness = None
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assert o._revalidate_selector(e, e.end_ns)
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assert o.discovery is None and o.offer_state is None
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assert o.reason == 'fresh_selector_response_required'
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class ReceiptClockConversion(unittest.TestCase):
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def capture(self, publication, receipt, control):
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from types import SimpleNamespace as NS
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from openpilot.starpilot.flm.feedback_observation import capture_controls
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class SM(dict):
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pass
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output = NS(torque=0.0, to_dict=lambda: {'torque': 0.0})
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sm = SM(carOutput=NS(actuatorsOutput=output))
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sm.logMonoTime = {'carOutput': publication}
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sm.recv_frame = {'carOutput': 1}
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sm.recv_time = {'carOutput': receipt / 1e9}
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sm.seen = {'carOutput': True}
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sm.valid = {'carOutput': True}
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source = NS(enabled=True, manual=False, observed_ns=control - 1, expires_ns=control + 100_000_000, source_epoch='a' * 64, cp_sha256='b' * 64)
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obj = NS(sm=sm, CP=NS(steerControlType='torque'), global_learning=NS(eligible=True, source=source), steer_limited_by_safety=False)
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cc = NS(actuators=NS(torque=0.0), latActive=True)
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return capture_controls(obj, cc, control_ns=control, input_limited=False)
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def test_actual_capture_preserves_receipt_order_across_uptime_boundary(self):
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stamp = 1_024_000_000_052
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assert int(stamp / 1e9 * 1e9) == stamp - 1 # Demonstrated original producer defect.
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row = self.capture(stamp, stamp, stamp + 1_000_000)
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assert row.receipt_ns == stamp and row.publication_ns == stamp
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def test_stale_and_future_receipts_are_still_rejected(self):
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from openpilot.starpilot.flm.feedback_observation import MAX_AGE_NS
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stamp = 1_024_000_000_052
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with self.assertRaises(ValueError):
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self.capture(stamp, stamp, stamp + MAX_AGE_NS + 1)
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with self.assertRaises(ValueError):
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self.capture(stamp, stamp + 2_000_000, stamp + 1_000_000)
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def test_recovery_ack_barrier_does_not_hide_new_source_candidates(self):
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o, old = pending_recovery()
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o.selector_after_ns = 500_000_000_000
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for i in range(2, 7):
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e = replace(episode(o, i, 'ff_gain_right'), normalization_accel=0.5)
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refresh(o, e.end_ns)
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o.observe_episode(e, now_ns=e.end_ns)
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assert o.offer_state is not None and o.offer_state['names'] == ('ff_gain_right',)
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assert len(o.before) == 3 and not any(o.accepted.values())
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