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https://github.com/firestar5683/StarPilot.git
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firestar5683
61 lines
2.7 KiB
Python
61 lines
2.7 KiB
Python
"""Fresh process activation has no cold capture imports; overruns keep outputs."""
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import subprocess
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import sys
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from types import SimpleNamespace
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from unittest.mock import patch
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from typing import cast
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import pytest
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@pytest.mark.parametrize('vehicle', ['HYUNDAI_IONIQ_6', 'TOYOTA_RAV4_TSS2'])
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def test_first_active_capture_does_not_import_capture_modules(vehicle):
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code = r"""
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import sys
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from opendbc.car.car_helpers import interfaces
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from openpilot.starpilot.flm.tests.test_registered_controls_global import controls_for, frame
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identity = sys.argv[1]
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cp = interfaces[identity].get_non_essential_params(identity)
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with controls_for(cp, 'standard', True) as controls:
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before = set(sys.modules)
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for tick in range(30):
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command, state = frame(controls, 400_000_000_000 + tick * 10_000_000, tick)
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controls.publish(command, state)
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assert controls.global_learning is not None
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assert controls.global_learning.snapshot_ns > 0
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assert command.latActive
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capture = {'openpilot.starpilot.flm.' + name for name in
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('controller_replay', 'normalized_trace_archive', 'physical_input_observation', 'feedback_wire')}
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assert not (set(sys.modules) - before) & capture, 'cold capture import in active Controls'
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"""
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result = subprocess.run([sys.executable, '-B', '-c', code, vehicle], capture_output=True, text=True, timeout=15)
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assert result.returncode == 0, result.stdout + result.stderr
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@pytest.mark.parametrize('duration_ms', [5, 60])
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def test_cycle_timing_reports_after_output_without_changing_control_calls(duration_ms):
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from openpilot.selfdrive.controls.controlsd import Controls
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class Finished(Exception):
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pass
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order = []
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command, state = object(), object()
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controls = SimpleNamespace(update=lambda: order.append('update'),
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state_control=lambda: (order.append('control') or (command, state)),
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publish=lambda cc, log: order.append(('publish', cc, log)))
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base = 10_000_000_000
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stamps = [base, base + 1_000_000, base + duration_ms * 1_000_000, base + duration_ms * 1_000_000]
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with patch('openpilot.selfdrive.controls.controlsd.Ratekeeper') as ratekeeper, \
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patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', side_effect=stamps), \
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patch('openpilot.selfdrive.controls.controlsd.time.thread_time_ns', return_value=1), \
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patch('openpilot.selfdrive.controls.controlsd.cloudlog.event') as event:
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ratekeeper.return_value.monitor_time.side_effect = Finished
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with pytest.raises(Finished):
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Controls.run(cast(Controls, controls))
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assert order == ['update', 'control', ('publish', command, state)]
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assert event.call_count == int(duration_ms > 50)
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if duration_ms > 50:
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assert event.call_args.kwargs['wall_ms'] == duration_ms
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assert event.call_args.kwargs['control_ms'] == duration_ms - 1
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