mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
93 lines
4.4 KiB
Python
93 lines
4.4 KiB
Python
"""Recorded route7c clocks and strict independent consumption boundaries.
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No supplied physical response, native permission or fit is created here.
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"""
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from types import SimpleNamespace
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import pytest
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from openpilot.starpilot.flm.torque_eligibility import consumed_sources_current
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def pair():
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return (SimpleNamespace(state_ns=1681782046348, control_ns=1681789927746),
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SimpleNamespace(state_ns=1681812490090, apply_ns=1681814665097))
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def test_recorded_route7c_individually_fresh_consumption_not_cross_source_age():
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control, output = pair()
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assert output.state_ns - control.state_ns == 30_443_742
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assert control.control_ns - control.state_ns == 7_881_398
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assert output.apply_ns - output.state_ns == 2_175_007
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assert output.apply_ns - control.control_ns == 24_737_351
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assert consumed_sources_current(control, output)
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@pytest.mark.parametrize('boundary', ('control_state', 'card_state', 'dispatch'))
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@pytest.mark.parametrize('excess', (0, 1))
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def test_each_original_thirty_ms_budget_is_inclusive_but_never_extended(boundary, excess):
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end = 10_100_000_000
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control = SimpleNamespace(state_ns=end - 30_000_000, control_ns=end)
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output = SimpleNamespace(state_ns=end, apply_ns=end)
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if boundary == 'control_state':
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control.state_ns -= excess
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elif boundary == 'card_state':
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output.apply_ns = end + 30_000_000 + excess
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else:
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output.state_ns = output.apply_ns = end + 30_000_000 + excess
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assert consumed_sources_current(control, output) is (excess == 0)
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@pytest.mark.parametrize('field,value', (('state_ns', 0), ('state_ns', -1), ('state_ns', True),
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('control_ns', 1.0), ('control_ns', 0)))
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def test_invalid_control_clocks_fail_closed(field, value):
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control, output = pair()
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setattr(control, field, value)
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assert not consumed_sources_current(control, output)
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def test_card_state_precedes_control_source_or_follows_application_fails():
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control, output = pair()
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output.state_ns = control.state_ns - 1
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assert not consumed_sources_current(control, output)
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output.state_ns = output.apply_ns + 1
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assert not consumed_sources_current(control, output)
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def test_recorded_clock_relationship_reaches_actual_registered_encoder_join(tmp_path):
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from dataclasses import replace
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from opendbc.car.toyota.values import CAR
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from openpilot.starpilot.flm.fullrate_collector import FullrateCollector
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from openpilot.starpilot.flm.runtime_adapter_registry import read_source
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from openpilot.starpilot.flm.torque_emission_replay import EmissionHistory
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from openpilot.starpilot.flm.tests.test_torque_emission_join import BASE, interface, settle, cc, emitted
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ci = interface(CAR.TOYOTA_COROLLA_TSS2)
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settle(ci, cc(0.01))
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dispatch = 24_737_351
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apply_ns = BASE + ci.CC.frame * 10_000_000
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original_control_ns = apply_ns - dispatch
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control, output = emitted(ci, cc(0.01), tmp_path, control_ns=original_control_ns)
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assert control.control_ns == original_control_ns and output.apply_ns == apply_ns
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# emitted/source constructs the source at the original command clock. Its
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# compact encoder fixture omits receipt metadata; obtain the actual typed
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# source with the identical fixture settings rather than inventing a stamp.
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actual_source = read_source(ci.CP.as_reader(),
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SimpleNamespace(get_param_path=lambda key: str(tmp_path / key)),
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now_ns=original_control_ns, calibration=(0.0, 0.0, 0.0), vehicle_session='fixture-drive')
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assert actual_source.source_epoch == control.source_epoch
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control.source_receipt_ns = actual_source.observed_ns
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assert 0 < control.source_receipt_ns <= control.control_ns <= actual_source.expires_ns
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assert control.control_ns <= control.source_receipt_ns + 500_000_000
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control.state_ns = control.control_ns - 7_881_398
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control.domain = 'normalized_torque'
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output = replace(output, control_ns=control.control_ns, state_ns=output.apply_ns - 2_175_007)
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history = EmissionHistory(ci.CP, identity=control.identity, baseline_revision=control.baseline_revision)
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assert history.record_carrier(output)
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collector = FullrateCollector(SimpleNamespace(command_domain='normalized_torque', record_actual_emission=history.record))
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collector._join_emission(control, output)
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assert list(collector.ready) == [(control, output)]
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history.verify(control, output)
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collector._join_emission(control, replace(output, state_ns=output.apply_ns - 30_000_001))
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assert not collector.ready
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assert collector.training_interruptions['consumed_source_mismatch'] == 1
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