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https://github.com/firestar5683/StarPilot.git
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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.
90 lines
4.1 KiB
Python
90 lines
4.1 KiB
Python
"""Existing status publications must name settings blocks accurately."""
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from openpilot.starpilot.flm.tests._drain_fixture import separate_drain_fixture
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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.starpilot.flm import steerlearnerd
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from openpilot.starpilot.flm.runtime_adapter_registry import SourceState
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NOW = 1_000_000_000
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def publication(source, evidence=None, adapter=None, sources=None):
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sources = [source] if sources is None else sources
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sm = mock.Mock(updated={'deviceMotion': False}, logMonoTime={'deviceMotion': 0})
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ticks = iter(NOW + index * 250_000_000 for index in range(len(sources)))
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current_time = [NOW]
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def update(timeout=None):
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if timeout == 0:
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return
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current_time[0] = next(ticks)
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sm.update.side_effect = update
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pm, fitter = mock.Mock(), mock.Mock()
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control_socket, applied_socket = object(), object()
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factory = mock.Mock(return_value=adapter)
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source_reader = mock.Mock(side_effect=sources)
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clock = mock.Mock(side_effect=lambda: current_time[0])
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def drain(socket, callback, receive, sink, now):
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if socket is control_socket and evidence is not None:
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event = SimpleNamespace(which=lambda: 'starpilotLateralState',
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starpilotLateralState=SimpleNamespace(learningEvidence=SimpleNamespace(version=1)))
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callback(event, now, now)
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with mock.patch.object(steerlearnerd, 'drain_pair', separate_drain_fixture(drain)), mock.patch.object(steerlearnerd, 'read_control', return_value=evidence):
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with pytest.raises(StopIteration):
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steerlearnerd.run(SimpleNamespace(), sm, control_socket, applied_socket, pm, factory, mock.Mock(),
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source_reader, lambda item: (('feedforward', 'low', 'steady'),),
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lambda item: ('feedforward', 'low', 'steady'), mock.Mock(), mock.Mock(), fitter,
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mock.Mock(), clock=clock)
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fitter.close.assert_called_once_with('learner_parent_exit')
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factory_calls = factory.call_count
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message = pm.send.call_args.args[1]
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assert message.valid
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assert str(message.autoSteeringLearning.learning.status) == 'unavailable'
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assert message.autoSteeringLearning.learning.sourceReceipt.manual == sources[-1].manual
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return str(message.autoSteeringLearning.learning.reason), factory_calls
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def source():
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return SourceState(True, False, '0', 'a' * 64, NOW, NOW + 500_000_000, 'b' * 64, (0., 0., 0.))
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@pytest.mark.parametrize('change,reason', (({'enabled': False}, 'learning_disabled'),
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({'manual': True}, 'manual_profile_override'),
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({'observed_ns': NOW - 600_000_000, 'expires_ns': NOW - 100_000_000},
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'settings_receipt_expired')))
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def test_settings_block_is_reported_without_claiming_an_unsupported_controller(change, reason):
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actual, factory_calls = publication(replace(source(), **change))
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assert actual == reason
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assert factory_calls == 0
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def test_no_controller_evidence_is_distinct_from_adapter_rejection():
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reason, factory_calls = publication(source())
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assert reason == 'no_current_controller_evidence'
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assert factory_calls == 0
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def test_cleared_manual_block_does_not_leave_a_stale_status_reason():
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resumed = replace(source(), source_epoch='c' * 64)
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reason, factory_calls = publication(resumed, sources=[replace(source(), manual=True), resumed, resumed])
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assert reason == 'no_current_controller_evidence'
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assert factory_calls == 0
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def test_actual_adapter_unavailable_is_reserved_for_a_real_factory_refusal():
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evidence = SimpleNamespace(source_epoch='a' * 64, source_receipt_ns=NOW, control_ns=NOW,
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identity='c' * 64, generation=1, domain='normalized_torque', stage_revision='stage',
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response_revision='response', controller_mode='starpilot', policy='ioniq6',
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baseline_revision='baseline', controller_revision='controller', turn_assist=False)
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reason, factory_calls = publication(source(), evidence)
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assert reason == 'actual_adapter_unavailable'
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assert factory_calls == 1
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