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firestar5683
108 lines
4.7 KiB
Python
108 lines
4.7 KiB
Python
"""Clock causality/collector propagation; synthetic lifecycle is not admission proof."""
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from dataclasses import replace
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from unittest import mock
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import pytest
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from openpilot.starpilot.flm.event_collection import EventCollectionAdapter, _fresh_current_physical
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from openpilot.starpilot.flm.tests.test_event_target_renewal import BoundaryAdapter, fixture
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NOW = 20_000_000_000
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def test_response_after_command_is_fresh_only_at_a_trusted_later_decision():
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control, applied, response = NOW - 2_000_000, NOW - 1_000_000, NOW
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assert not _fresh_current_physical(control, applied, response, None)
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assert _fresh_current_physical(control, applied, response, NOW)
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assert not _fresh_current_physical(control, applied, response, applied)
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assert _fresh_current_physical(NOW - 100_000_000, NOW - 99_000_000, NOW, NOW)
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@pytest.mark.parametrize('index', (0, 1, 2))
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def test_each_original_stream_must_be_nonfuture_and_within_100ms(index):
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valid: list[int | float] = [NOW - 2_000_000, NOW - 1_000_000, NOW]
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for stamp in (NOW + 1, NOW - 101_000_000, 0, -1, True, float(NOW)):
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values = valid.copy()
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values[index] = stamp
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assert not _fresh_current_physical(values[0], values[1], values[2], NOW)
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assert not _fresh_current_physical(NOW, NOW - 1, NOW, NOW)
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@pytest.mark.parametrize('decision', (0, -1, True, float(NOW), NOW - 1))
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def test_malformed_or_earlier_decision_cannot_make_future_pose_fresh(decision):
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assert not _fresh_current_physical(NOW - 2_000_000, NOW - 1_000_000, NOW, decision)
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def test_no_clock_legacy_condition_is_unchanged():
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for delta in (-1, 0, 1, 100_000_000, 100_000_001):
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response = NOW - delta
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expected = 0 < response <= NOW + 500_000_000 and 0 <= NOW - response <= 100_000_000
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assert _fresh_current_physical(NOW - 1_000_000, NOW, response, None) == expected
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class ClockedBoundaryAdapter(BoundaryAdapter, EventCollectionAdapter):
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# Reuse existing explicitly synthetic collector lifecycle fixture; never grant
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# a registered physical/native qualification. readmit is blocked below.
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raw_collection = False
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decisions = None
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.original_context_receipts = None
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def physical_observable(self, row=None, *, value=None):
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return super().physical_observable(row if value is None else value)
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def current_admission(self, profile, control, output, context, *, now_ns=None):
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self.decisions = now_ns
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return BoundaryAdapter.current_admission(self, profile, control, output, context)
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def collector_ready(*, clocked):
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collector, control, output, pose = fixture()
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if clocked:
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old = collector.adapter
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adapter = ClockedBoundaryAdapter(old.fit_profile)
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adapter.__dict__.update(old.__dict__)
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collector.adapter = adapter
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assert collector.control(control, output.apply_ns)
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assert collector.output(output, output.apply_ns)
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assert collector.physical(pose, pose.received_ns)
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return collector, pose.received_ns
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def test_actual_collector_passes_trusted_decision_only_to_event_adapter():
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collector, decision = collector_ready(clocked=True)
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with mock.patch('openpilot.starpilot.flm.fullrate_collector.readmit_profile', return_value=None) as readmit:
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assert collector.revalidate_fit(decision) is None
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assert collector.adapter.decisions == decision
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admission = readmit.call_args.args[2]
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control, output = collector.ready[-1]
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assert admission.source_ns == min(control.control_ns, output.apply_ns)
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assert readmit.call_args.kwargs['now_ns'] == decision
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# Legacy fixture's old four-argument method must still work unchanged.
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collector, decision = collector_ready(clocked=False)
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with mock.patch('openpilot.starpilot.flm.fullrate_collector.readmit_profile', return_value=None) as readmit:
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assert collector.revalidate_fit(decision) is None
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assert readmit.called
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@pytest.mark.parametrize('bad', ('source_future', 'source_expired', 'native_future', 'native_expired', '101ms'))
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def test_existing_source_native_and_freshness_leases_precede_admission(bad):
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collector, decision = collector_ready(clocked=True)
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control, output = collector.ready[-1]
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changes = {}
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if bad == 'source_future':
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changes['source_receipt_ns'] = decision + 1
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elif bad == 'source_expired':
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changes['source_receipt_ns'] = decision - 500_000_001
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elif bad == 'native_future':
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changes.update(native_required=True, native_allowed=True, native_observed_ns=decision + 1, native_expires_ns=decision + 100_000_000)
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elif bad == 'native_expired':
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changes.update(native_required=True, native_allowed=True, native_observed_ns=decision - 100_000_000, native_expires_ns=decision - 1)
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else:
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decision += 101_000_000
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collector.ready[-1] = (replace(control, **changes), output)
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assert collector.revalidate_fit(decision) is None
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assert collector.adapter.decisions is None
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