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firestar5683
66 lines
2.7 KiB
Python
66 lines
2.7 KiB
Python
"""Actual parent history loading never rewrites its observed live target."""
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from dataclasses import replace
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from types import SimpleNamespace
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import pytest
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from openpilot.starpilot.flm.event_collection import EventCollectionAdapter
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from openpilot.starpilot.flm.full_surface_store import FullSurfacePrior
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from openpilot.starpilot.flm.tests.test_full_surface_profile import base
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def parent(envelope=None):
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owner = EventCollectionAdapter.__new__(EventCollectionAdapter)
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owner._source = SimpleNamespace(reset='0')
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owner.envelope = base() if envelope is None else envelope
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owner.restore_envelope = None
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owner.optimizer_prior = None
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owner.accepted_restore_envelope = None
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return owner
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def saved_prior(current):
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accepted = current.with_proposal({'ff_gain_left': 0.005})
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return FullSurfacePrior(replace(accepted, prior_coordinates=accepted.coordinates, prior_full_profile_sha256=accepted.full_profile_sha256).validate())
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def test_actual_parent_keeps_live_neutral_and_routes_history_to_explicit_transaction():
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owner = parent()
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neutral = owner.envelope
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prior = saved_prior(neutral)
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owner.install_full_prior(prior)
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assert owner.envelope is neutral
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assert owner.envelope.coordinates != prior.envelope.coordinates
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assert owner.optimizer_prior is prior and owner.restore_envelope is not None
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assert owner.restore_envelope.operation == 'restore'
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assert owner.restore_envelope.prior_coordinates == neutral.coordinates
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assert owner.restore_envelope.coordinates == prior.envelope.coordinates
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def test_actual_parent_no_history_keeps_actual_target_and_no_restore():
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owner = parent()
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neutral = owner.envelope
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owner.install_full_prior(None)
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assert owner.envelope is neutral
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assert owner.optimizer_prior is None and owner.restore_envelope is None
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def test_actual_parent_does_not_restore_over_already_accepted_live_map():
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accepted = base().with_proposal({'ff_gain_left': 0.005})
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current = replace(accepted, prior_coordinates=accepted.coordinates, prior_full_profile_sha256=accepted.full_profile_sha256).validate()
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owner = parent(current)
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prior = FullSurfacePrior(current)
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owner.install_full_prior(prior)
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assert owner.envelope is current
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assert owner.restore_envelope is None
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@pytest.mark.parametrize('change', [{'source_epoch': '7' * 64, 'context_key': '7' * 64}, {'persistent_source_epoch': '7' * 64}, {'reset_generation': '1'}])
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def test_actual_parent_rejects_foreign_history_even_before_child_submission(change):
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owner = parent()
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prior = saved_prior(owner.envelope)
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foreign = FullSurfacePrior(replace(prior.envelope, **change))
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with pytest.raises(ValueError):
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owner.install_full_prior(foreign)
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assert owner.envelope.coordinates == base().coordinates
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assert owner.restore_envelope is None
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