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Dom
70 lines
3.5 KiB
Python
70 lines
3.5 KiB
Python
"""Exact original-frame join; no synthetic replay qualification."""
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from types import SimpleNamespace
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from typing import TypedDict
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from unittest import mock
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import pytest
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from openpilot.starpilot.flm.event_raw_fit import _control_frame_index, fit_event_torque
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from openpilot.starpilot.flm.tests.test_event_activation import fitted_model
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class StageSample(TypedDict):
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control_ns: int
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apply_ns: int
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mono_ns: int
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control: dict[str, int]
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output: dict[str, int]
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physical: dict[str, float]
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class StageEvent(TypedDict):
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block_id: str
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samples: tuple[StageSample, ...]
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def test_index_preserves_original_frame_identity_and_missing_timestamp():
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first = SimpleNamespace(control_ns=10, desired_physical_accel=.02)
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second = SimpleNamespace(control_ns=20, desired_physical_accel=.03)
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frames = _control_frame_index((first, second))
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assert frames[10] is first and frames[20] is second
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assert frames.get(30) is None
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@pytest.mark.parametrize('stamp', (10, 0, True, 10.))
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def test_actual_fit_rejects_duplicate_or_invalid_frames_before_fitting(stamp):
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engine = SimpleNamespace(records=(SimpleNamespace(control_ns=10), SimpleNamespace(control_ns=stamp)))
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with mock.patch('openpilot.starpilot.flm.event_raw_fit.original_event_evidence') as evidence, \
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pytest.raises(ValueError, match='duplicate/invalid original control frame'):
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fit_event_torque({}, engine, None)
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evidence.assert_not_called()
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def test_actual_fit_missing_stage_frame_is_fail_closed():
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# Isolate the stage join after its independently checked upstream operations.
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# The model comes from the real measured-row fitter, never a qualification flag.
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model = fitted_model()
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events: tuple[StageEvent, ...] = tuple({'block_id': str(index), 'samples': ({'control_ns': index * 1_000_000_000,
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'apply_ns': index * 1_000_000_000 + 1, 'mono_ns': index * 1_000_000_000 + 2,
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'control': {'stamp': index * 1_000_000_000}, 'output': {'stamp': index * 1_000_000_000 + 1},
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'physical': {'lateral_accel': .02}},)} for index in range(1, 17))
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first_stage = events[8]['samples'][0]
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engine = SimpleNamespace(records=(), identity=model.identity, projected={}, ensure_causal_features=lambda: None)
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objective = SimpleNamespace(names=('center',), required_cohorts=('center',))
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envelope = SimpleNamespace(prior_coordinates=(('center', 0.),))
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with mock.patch('openpilot.starpilot.flm.event_raw_fit.original_event_evidence',
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return_value=(envelope, model.context, model.lag_ns, (), events)), \
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mock.patch('openpilot.starpilot.flm.event_raw_fit.fit_event_physical', return_value=model), \
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mock.patch('openpilot.starpilot.flm.event_raw_fit.objective_excited', return_value=True), \
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mock.patch('openpilot.starpilot.flm.event_raw_fit.control_from_dict',
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side_effect=lambda values, *, trace_archive: SimpleNamespace(control_ns=values['stamp'])) as control, \
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mock.patch('openpilot.starpilot.flm.event_raw_fit.output_from_dict',
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side_effect=lambda values: SimpleNamespace(apply_ns=values['stamp'])), \
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mock.patch('openpilot.starpilot.flm.event_raw_fit.delivered', return_value=.01), \
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pytest.raises(ValueError, match='supported actual physical response'):
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engine.projected[first_stage['apply_ns']] = (.01, (1.,))
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fit_event_torque({}, engine, objective)
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# This isolated legacy fixture has no normalized trace archive; the stage
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# decoder must still receive the explicit archive argument before the join.
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control.assert_called_once_with(first_stage['control'], trace_archive=None)
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