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firestar5683
68 lines
2.7 KiB
Python
68 lines
2.7 KiB
Python
"""Actual Controls consumers; synthetictiming fixtures, not road-effect proof."""
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import pytest
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from openpilot.cereal import messaging
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from openpilot.starpilot.flm.evidence_hooks import control_message
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from openpilot.starpilot.flm.tests.test_live_trial_global_runtime import live_controls
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def paced(fixture, proposal=None, **kwargs):
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# Real20Hz publication opportunities, skip everyfourth: actual15Hz delivery.
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next_tick = fixture.tick + 1
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publish = (next_tick // 5) % 4 != 0
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return fixture.frame(proposal, publish=publish, **kwargs)
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def capture(fixture, now):
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message = messaging.new_message('starpilotLateralState')
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written = control_message(message, fixture.controls.LaC, fixture.last_command,
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control_ns=now, state_ns=int(fixture.controls.sm.logMonoTime['carState']),
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limited=fixture.controls.steer_limited_by_safety)
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return written is True and message.starpilotLateralState.learningEvidence.version == 1
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def warm_slow_metadata(fixture):
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for _ in range(350):
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paced(fixture)
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assert not fixture.controls.sm.freq_ok['starpilotSteeringTracking']
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assert fixture.controls.sm.all_checks(list(fixture.runtime.health_services))
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assert fixture.controls.flm_native_witness is not None
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def test_fresh_slow_metadata_keeps_actual_controller_collection_without_authorizing_output():
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with live_controls() as fixture:
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warm_slow_metadata(fixture)
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captured = 0
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for _ in range(50):
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now, _ = paced(fixture)
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assert not fixture.controls.sm.freq_ok['starpilotSteeringTracking']
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captured += capture(fixture, now)
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fixture.assert_neutral()
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assert captured == 50
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def test_slow_metadata_frequency_still_refuses_live_correction():
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with live_controls() as fixture:
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warm_slow_metadata(fixture)
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proposal = fixture.initial_offer()
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for _ in range(50):
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now, _ = paced(fixture, proposal)
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assert not fixture.controls.sm.freq_ok['starpilotSteeringTracking']
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fixture.assert_neutral()
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assert capture(fixture, now)
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@pytest.mark.parametrize('failure', ['native', 'driver', 'model', 'invalid_source', 'stale_source'])
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def test_collection_still_rejects_current_authority_and_source_failure(failure):
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with live_controls() as fixture:
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warm_slow_metadata(fixture)
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kwargs = {'native': {'native_allowed': False}, 'driver': {'driver': True},
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'model': {'model_age': 1_000_000_000}, 'invalid_source': {'source_valid': False},
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'stale_source': {}}[failure]
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for _ in range(70 if failure == 'stale_source' else 20):
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if failure == 'stale_source':
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now, _ = fixture.frame(publish=False)
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else:
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now, _ = paced(fixture, **kwargs)
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fixture.assert_neutral()
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assert not capture(fixture, now)
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