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https://github.com/firestar5683/StarPilot.git
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firestar5683
94 lines
3.6 KiB
Python
94 lines
3.6 KiB
Python
"""Immutable bounded caches preserve original digest and reject mutated maps."""
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from collections.abc import MutableMapping
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from typing import cast
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import hashlib
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from unittest.mock import patch
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import pytest
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from openpilot.starpilot.flm import canonical_surface_adapter as a
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from openpilot.starpilot.flm import torque_surface as source
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def zero():
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return dict.fromkeys(a.NAMES, 0.0)
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def expected_anchor(base):
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original = tuple((name, float(source._GM_NEUTRAL[name])) for name in a.NAMES)
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return hashlib.sha256(repr((a.MANIFEST_SHA256, base, original)).encode()).hexdigest()
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def test_anchors_and_fullmap_wire_digest_exactly_preserved_after_warm_cache():
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for base in ('a' * 64, 'b' * 64):
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for value in (0.0, -0.0, 0.005, -0.005):
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full = zero()
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full['ff_gain_left'] = value
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original = expected_anchor(base)
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expected = hashlib.sha256(repr((original, tuple((n, float(full[n])) for n in a.NAMES))).encode()).hexdigest()
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for _ in range(3):
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assert a.full_original_anchor(base) == original
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assert a.full_profile_sha256(base, full) == expected
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assert a.original_anchor(base, ('ff_gain_left',)) == hashlib.sha256(repr((original, ('ff_gain_left',))).encode()).hexdigest()
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def test_mutable_dictionary_changes_cannot_reuse_a_previously_valid_digest():
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full = zero()
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first = a.full_profile_sha256('a' * 64, full)
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full['ff_gain_left'] = 0.005
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second = a.full_profile_sha256('a' * 64, full)
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assert first != second
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for bad in (True, float('nan'), float('inf'), 0.251):
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full['ff_gain_left'] = bad
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with pytest.raises(ValueError):
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a.full_profile_sha256('a' * 64, full)
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full['ff_gain_left'] = 0.005
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assert a.full_profile_sha256('a' * 64, full) == second
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del full['ff_gain_right']
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with pytest.raises(ValueError):
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a.full_profile_sha256('a' * 64, full)
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def test_signed_zero_is_distinct_in_exact_wire_digest_even_when_python_tuple_equal():
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first = zero()
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second = zero()
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second['ff_gain_left'] = -0.0
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assert first == second
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assert a.full_profile_sha256('a' * 64, first) != a.full_profile_sha256('a' * 64, second)
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def test_cached_inputs_never_skip_original_type_validation():
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a.full_original_anchor('a' * 64)
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for bad in (b'a' * 64, 'a' * 63, None, True):
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with pytest.raises(ValueError):
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a.full_original_anchor(bad)
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a.parameters_for(('ff_gain_left',))
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with pytest.raises(ValueError):
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a.parameters_for(('STEER_MAX',))
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with pytest.raises(ValueError):
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a.parameters_for(('ff_gain_left', 'ff_gain_left'))
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with pytest.raises(ValueError):
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a.full_profile_sha256('a' * 64, zero() | {'STEER_MAX': 0.0})
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def test_immutable_parameter_tuple_cache_and_fixed_bounds():
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first = a.parameters_for(('ff_gain_left', 'turn_in_boost_left'))
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second = a.parameters_for(('ff_gain_left', 'turn_in_boost_left'))
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assert first is second
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with pytest.raises((AttributeError, TypeError)):
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first[0].high = 0.9
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with pytest.raises(TypeError):
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cast(MutableMapping[str, tuple[float, float]], a._COORDINATE_BOUNDS)['center_taper_max'] = (0.0, 0.9)
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assert a.coordinate_bounds('center_taper_max') == (0.0, 0.18)
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def test_caches_are_bounded_and_source_manifest_changes_invalidate_identity():
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assert a._full_original_anchor_cached.cache_info().maxsize == 32
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assert a._original_anchor_cached.cache_info().maxsize == 32
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assert a._parameters_for_cached.cache_info().maxsize == 64
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assert a._full_profile_sha256_cached.cache_info().maxsize == 128
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before = a.full_original_anchor('a' * 64)
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with patch.object(a, 'MANIFEST_SHA256', 'f' * 64):
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assert a.full_original_anchor('a' * 64) != before
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assert a.full_original_anchor('a' * 64) == before
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