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https://github.com/firestar5683/StarPilot.git
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firestar5683
9e94f56921
Connect native axis transport and acknowledgments, with regression coverage for the joined protocol paths. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com>
107 lines
5.4 KiB
Python
107 lines
5.4 KiB
Python
"""Reserved Data transport rejects malformed or historically colliding payloads."""
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import unittest
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import struct
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from unittest.mock import Mock, patch
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from opendbc.car import structs
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from openpilot.cereal import custom, messaging
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from openpilot.starpilot.aol.runtime import current_native
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from openpilot.starpilot.aol.wire import (IntentState, SafetyState, MAX_WIRE_BYTES, decode_intent,
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decode_safety, encode_intent, encode_safety)
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class AolWireTests(unittest.TestCase):
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@patch('openpilot.starpilot.aol.runtime.native_matches_cp', return_value=True)
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def test_native_safety_event_uses_python_monotonic_clock(self, _profile):
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cp = structs.CarParams(safetyConfigs=[structs.CarParams.SafetyConfig(safetyModel='hondaBoschGiraffe', safetyParam=34)])
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mono_ns = 1_000_000_000
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def event(event_ns: int, payload_ns: int):
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msg = messaging.new_message('aolSafetyWire', 0)
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msg.logMonoTime = event_ns
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msg.valid = True
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msg.aolSafetyWire = encode_safety(SafetyState(1, True, payload_ns, payload_ns + 200_000_000,
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5, 34,
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True, False, True, False, 'panda', 'session'))
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class SafetySM:
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valid = {'aolSafetyWire': True}
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alive = {'aolSafetyWire': True}
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seen = {'aolSafetyWire': True}
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def __init__(self):
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self.logMonoTime = {'aolSafetyWire': msg.logMonoTime}
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def __getitem__(self, _key):
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return msg.aolSafetyWire
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return SafetySM()
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self.assertIsNotNone(current_native(event(mono_ns, mono_ns), cp, now_ns=mono_ns + 1_000_000,
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axis_session_id='session'))
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boot_ns = mono_ns + 9_000_000_000
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self.assertIsNone(current_native(event(boot_ns, boot_ns), cp, now_ns=mono_ns + 1_000_000,
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axis_session_id='session'))
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self.assertIsNone(current_native(event(mono_ns, boot_ns), cp, now_ns=mono_ns + 1_000_000,
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axis_session_id='session'))
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def test_native_cpp_flat_fixture_decodes(self):
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# Exact output of test_aol_wire.cc (the native encoder test asserts it too).
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raw = bytes.fromhex('00000000090000000000000004000200010b0100010005006400000000000000' +
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'c80000000000000022000000000000000500000032000000050000002a000000' +
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'70616e64610000006178697300000000')
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self.assertEqual(decode_safety(raw), SafetyState(1, True, 100, 200, 5, 34,
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True, False, True, False, 'panda', 'axis'))
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def test_roundtrip_immutable_and_bounded(self):
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intent = IntentState('card', 3, 100, 100, 120, True, False, True, True)
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safety = SafetyState(1, True, 100, 200, 5, 34, True, False, True, False, 'panda', 'axis')
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self.assertEqual(decode_intent(encode_intent(intent)), intent)
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self.assertEqual(decode_safety(encode_safety(safety)), safety)
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decoded = decode_intent(encode_intent(intent))
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self.assertIsNotNone(decoded)
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assert decoded is not None
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with self.assertRaises(AttributeError):
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decoded.__setattr__('allowedLatch', False)
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with self.assertRaises(ValueError):
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encode_intent(IntentState('x' * 97, 3, 100, 100, 120, True, False, True, True))
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def test_corrupt_wrong_kind_version_and_pointer_fail_closed(self):
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valid = encode_intent(IntentState('card', 3, 100, 100, 120, True, False, True, True))
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# Even a valid packed payload cannot trigger decompression on the flat path.
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packed_payload = bytes.fromhex('100950040257010b010105016401c8012211053211052a1f70616e64610f61786973')
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for bad in (b'', valid[:3], valid + b'X' * MAX_WIRE_BYTES, b'\xff' * 12,
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packed_payload,
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struct.pack('<II', 0, 0x7fffffff) + valid[8:],
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struct.pack('<II', 1, 1) + valid[8:],
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encode_safety(SafetyState(1, True, 100, 200, 5, 34, True, False, True, False, 'panda', 'axis'))):
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with self.subTest(bad=str(bad)[:8]):
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self.assertIsNone(decode_intent(bad))
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self.assertIsNone(Mock(wraps=decode_intent)(512))
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wrong_version = custom.AolAxisState.IntentWire.new_message(kind=2, version=2, producerSessionId='card')
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self.assertIsNone(decode_intent(wrong_version.to_bytes()))
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wrong_kind = custom.AolAxisState.SafetyWire.new_message(kind=2, version=1)
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self.assertIsNone(decode_safety(wrong_kind.to_bytes()))
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# Segment table agrees with length, but the root struct pointer is invalid.
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corrupt_pointer = bytearray(valid)
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corrupt_pointer[8:16] = b'\xff' * 8
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self.assertIsNone(decode_intent(bytes(corrupt_pointer)))
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# Invalid UTF-8 in a text pointer is rejected during immutable materialization.
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invalid_utf8 = bytearray(valid)
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invalid_utf8[valid.index(b'card')] = 0xff
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self.assertIsNone(decode_intent(bytes(invalid_utf8)))
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def test_historic_map_ordinals_never_select_aol(self):
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old_extended = messaging.new_message('mapdExtendedOut')
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old_input = messaging.new_message('mapdIn')
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self.assertEqual(str(old_extended.which()), 'mapdExtendedOut')
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self.assertEqual(str(old_input.which()), 'mapdIn')
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self.assertNotEqual(old_extended.which(), 'aolSafetyWire')
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self.assertNotEqual(old_input.which(), 'aolIntentWire')
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self.assertEqual(int(custom.MapdExtendedOut.schema.node.id), 0xa30662f84033036c)
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self.assertEqual(int(custom.MapdIn.schema.node.id), 0xc86a3d38d13eb3ef)
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if __name__ == '__main__':
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unittest.main()
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