mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
ab81464bd1
Add navigation and map matching providers with the vendored map service sources. Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
67 lines
2.5 KiB
Go
67 lines
2.5 KiB
Go
package main
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import (
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"encoding/json"
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"fmt"
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"os"
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"os/exec"
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"path/filepath"
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"runtime"
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"strings"
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"testing"
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)
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// The required host target launches only --shadow with a disposable IPC prefix
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// and a synthetic packed tile. It does not start the normal provider path.
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func TestShadowExecutableHostGpsIPC(t *testing.T) {
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if os.Getenv("STARPILOT_SHADOW_EXEC_REQUIRED") != "1" {
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t.Skip("host executable IPC runs in the required integration target")
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}
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python := os.Getenv("STARPILOT_PYTHON")
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if python == "" || !filepath.IsAbs(python) {
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t.Fatal("absolute STARPILOT_PYTHON required")
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}
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root := t.TempDir()
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binary := filepath.Join(root, "mapd-shadow")
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goBinary := filepath.Join(runtime.GOROOT(), "bin", "go")
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if _, err := os.Stat(goBinary); err != nil {
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t.Fatalf("outer test toolchain is unavailable: %v", err)
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}
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build := exec.Command(goBinary, "build", "-mod=readonly", "-o", binary, ".")
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build.Env = append(os.Environ(), "GOTOOLCHAIN=local", "GOPROXY=off", "GOSUMDB=off")
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if out, err := build.CombinedOutput(); err != nil {
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t.Fatalf("shadow test build: %v: %s", err, out)
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}
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if out, err := exec.Command(binary, "--snapshot-admit", "--offline-root", root).CombinedOutput(); err == nil {
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t.Fatalf("admission accepted missing input/bounds: %s", out)
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}
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admit := exec.Command(binary, "--snapshot-admit", "--offline-root", root,
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"--input-pbf", filepath.Join("testdata", "synthetic_snapshot.osm.pbf"),
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"--min-lat", "35", "--min-lon", "-98", "--max-lat", "35.25", "--max-lon", "-97.75")
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if out, err := admit.CombinedOutput(); err != nil {
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t.Fatalf("actual snapshot CLI rejected synthetic input: %v: %s", err, out)
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}
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script, err := filepath.Abs(filepath.Join("..", "openpilot", "starpilot", "maps", "tests", "shadow_executable_host.py"))
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if err != nil {
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t.Fatal(err)
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}
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command := exec.Command(python, script)
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command.Env = append(os.Environ(), "STARPILOT_SHADOW_BINARY="+binary, "STARPILOT_SHADOW_ROOT="+root)
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command.Dir = ".."
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out, err := command.CombinedOutput()
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if err != nil {
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t.Fatalf("actual host GPS -> Go shadow -> Python status failed: %v: %s", err, out)
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}
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var result map[string]any
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lines := strings.Split(strings.TrimSpace(string(out)), "\n")
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if err := json.Unmarshal([]byte(lines[len(lines)-1]), &result); err != nil {
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t.Fatalf("missing JSON proof: %v: %s", err, out)
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}
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for _, key := range []string{"external", "invalidEvent", "noFix", "oldGps", "internalFallback", "stale", "restarted", "ignoredInputs"} {
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if result[key] != true {
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t.Fatalf("missing %s proof: %s", key, out)
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}
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}
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fmt.Println(string(out))
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}
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