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487dfc4bf4
Merge bounded control/output FIFO heads using original publisher headers. Preserve original age, native, source, overflow and malformed-input checks; retain producer order after joins. Validated with actual pinned cloud dependencies and fresh-head regression tests.
79 lines
3.4 KiB
Python
79 lines
3.4 KiB
Python
"""Actual optional publisher must send a freshly observed settings receipt."""
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from dataclasses import replace
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from types import SimpleNamespace
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from unittest import mock
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import pytest
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from openpilot.cereal import messaging
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from openpilot.starpilot.flm import steerlearnerd
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from openpilot.starpilot.flm.learning_wire import read_source_receipt
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from openpilot.starpilot.flm.runtime_adapter_registry import SourceState
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BASE = 1_000_000_000
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CP = 'b' * 64
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def publication(*, fresh, changes=None, snapshot_cost=0):
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now = [BASE + 330_000_000] # Actual route: published source age reached330ms.
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old = SourceState(True, False, '0', 'a' * 64, BASE, BASE + 500_000_000, CP, (0., 0., 0.), 'c' * 32)
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sm, publisher, fitter = mock.Mock(updated={'deviceMotion': False}, logMonoTime={'deviceMotion': 0}), mock.Mock(), mock.Mock(child=None)
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fitter.poll.return_value = None
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sent = []
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def refresh(stamp):
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result = replace(old, observed_ns=stamp, expires_ns=stamp + 500_000_000, **(changes or {}))
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now[0] += snapshot_cost
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return result
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def send(service, message):
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assert service == 'autoSteeringLearning'
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sent.append(messaging.log_from_bytes(message.to_bytes()))
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raise StopIteration
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publisher.send.side_effect = send
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with mock.patch.object(steerlearnerd, 'drain_pair', return_value=None):
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with pytest.raises(StopIteration):
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steerlearnerd.run(SimpleNamespace(), sm, object(), object(), publisher,
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mock.Mock(), mock.Mock(), mock.Mock(return_value=old), mock.Mock(), mock.Mock(),
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mock.Mock(), mock.Mock(), fitter, mock.Mock(), clock=lambda: now[0],
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publication_source_reader=refresh if fresh else None)
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fitter.close.assert_called_once_with('learner_parent_exit')
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return sent[0], now[0], fitter
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def test_actual_parent_old_receipt_expires_before_next_normal_publication():
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old, _, _ = publication(fresh=False)
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fresh, now, _ = publication(fresh=True)
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next_publication = now + 300_000_000 # Route median281ms, p95325ms.
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assert read_source_receipt(old, now_ns=next_publication, cp_sha256=CP) is None
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current = read_source_receipt(fresh, now_ns=next_publication, cp_sha256=CP)
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assert current is not None and current.observed_ns == now
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assert current.expires_ns == current.observed_ns + 500_000_000
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assert fresh.logMonoTime >= current.observed_ns
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assert fresh.autoSteeringLearning.learning.runtimeProfile.version == 0
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@pytest.mark.parametrize('changes', [
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{'enabled': False, 'source_epoch': 'd' * 64},
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{'manual': True, 'source_epoch': 'd' * 64},
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{'reset': '1', 'source_epoch': 'd' * 64},
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{'calibration_generation': 'e' * 32, 'source_epoch': 'd' * 64},
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{'cp_sha256': 'f' * 64},
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])
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def test_publication_refresh_preserves_real_identity_manual_reset_rejections(changes):
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message, _, fitter = publication(fresh=True, changes=changes)
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learning = message.autoSteeringLearning.learning
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assert learning.status == 'unavailable'
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assert learning.reason == 'publication_source_changed_or_unavailable'
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assert learning.runtimeProfile.version == 0
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fitter.cancel.assert_called()
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def test_actual_settings_read_cannot_extend_a_receipt_it_outlives():
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message, now, _ = publication(fresh=True, snapshot_cost=500_000_001)
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assert message.autoSteeringLearning.learning.status == 'unavailable'
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assert read_source_receipt(message, now_ns=now, cp_sha256=CP) is None
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source = message.autoSteeringLearning.learning.sourceReceipt
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assert source.validUntilMonoTime == source.observedMonoTime + 500_000_000
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