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firestar5683
111 lines
4.9 KiB
Python
111 lines
4.9 KiB
Python
"""Real Cereal trace retention shares immutable content, never per-frame clocks."""
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from dataclasses import replace
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import struct
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import pytest
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from openpilot.cereal import custom
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from openpilot.starpilot.flm import learning_wire as wire
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from openpilot.starpilot.flm.canonical_surface_adapter import NAMES, full_profile_sha256
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from openpilot.starpilot.flm.effect_trace import FullEffectTrace
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from openpilot.starpilot.flm.full_surface_profile import FullSurfaceEnvelope
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def trace(stamp=1_000_000_000, epoch='e' * 64):
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envelope = FullSurfaceEnvelope.initial(cp_sha256='c' * 64,
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controller_revision='selected-controller-v2:' + 'd' * 64, source_epoch=epoch,
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reset_generation='0', selected_baseline_revision='a' * 64,
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trial_names=('ff_gain_left',), persistent_source_epoch='9' * 64)
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rows = envelope.coordinates
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return FullEffectTrace(1, envelope, stamp, stamp - 10_000_000, True,
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rows, rows, rows, envelope.full_profile_sha256).validate()
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def decode(value):
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payload = custom.LearningControlEvidence.new_message(effectTrace=wire._write_effect_trace(value)).to_bytes()
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with custom.LearningControlEvidence.from_bytes(payload) as message:
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return wire._read_effect_trace(message.effectTrace)
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def test_actual_cereal_retains_shared_content_and_distinct_original_clocks():
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retained = [decode(trace(1_000_000_000 + i * 10_000_000)) for i in range(100)]
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first, last = retained[0], retained[-1]
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assert first is not last
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assert first.envelope is last.envelope
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for field in ('before', 'target', 'applied'):
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assert getattr(first, field) is getattr(last, field)
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assert tuple(name for name, _ in getattr(first, field)) == NAMES
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assert [row.control_ns for row in retained] == [1_000_000_000 + i * 10_000_000 for i in range(100)]
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assert all(row.previous_ns == row.control_ns - 10_000_000 for row in retained)
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assert all(row.validate() == trace(row.control_ns) for row in retained)
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def test_actual_cereal_source_identity_never_aliases_a_different_envelope():
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first, other = decode(trace()), decode(trace(epoch='f' * 64))
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assert first.envelope is not other.envelope
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assert first.envelope.source_epoch == 'e' * 64
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assert other.envelope.source_epoch == 'f' * 64
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assert first.applied is other.applied
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def test_actual_cereal_changed_coordinate_is_preserved():
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base = trace()
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rows = tuple((name, .001 if name == 'ff_gain_left' else value) for name, value in base.before)
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# Withdrawing a nonzero prior effect must still produce the exact zero command.
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changed = replace(base, before=rows, qualified=False).validate()
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decoded = decode(changed)
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assert decoded == changed
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assert decoded.before is not decode(base).before
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assert dict(decoded.before)['ff_gain_left'] == .001
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@pytest.mark.parametrize('change', ['version', 'names', 'bounds', 'nan', 'hash', 'context', 'manifest'])
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def test_actual_cereal_invalid_trace_is_still_rejected_after_cache_warmup(change):
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base = trace()
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decode(base)
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data = wire._write_effect_trace(base)
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if change == 'version':
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data['version'] = 2
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elif change == 'names':
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data['before'][0]['name'] = 'foreign'
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elif change == 'bounds':
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data['before'].pop()
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elif change == 'nan':
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data['before'][0]['value'] = float('nan')
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elif change == 'hash':
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data['appliedFullProfileSha256'] = '0' * 64
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elif change == 'context':
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data['envelope']['contextKey'] = 'f' * 64
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else:
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data['envelope']['manifestSha256'] = '0' * 64
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payload = custom.LearningControlEvidence.new_message(effectTrace=data).to_bytes()
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with custom.LearningControlEvidence.from_bytes(payload) as message, pytest.raises(ValueError):
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wire._read_effect_trace(message.effectTrace)
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def test_coordinate_cache_preserves_signed_zero_and_has_fixed_bound():
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wire._effect_coordinate_rows.cache_clear()
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positive = tuple((name, 0.) for name in NAMES)
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negative = tuple((name, -0.) for name in NAMES)
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first = wire._shared_effect_rows(positive)
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second = wire._shared_effect_rows(negative)
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assert first is not second
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assert struct.pack('!d', second[0][1]) == struct.pack('!d', -0.)
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for i in range(160):
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rows = tuple((name, float(i)) for name in NAMES)
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assert wire._shared_effect_rows(rows) == rows
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assert wire._effect_coordinate_rows.cache_info().currsize == 128
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assert wire._shared_effect_rows(positive) == positive
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assert wire._shared_effect_rows(positive) is not first
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def test_actual_cereal_signed_zero_hash_is_not_normalized():
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base = trace()
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negative = tuple((name, -0.) for name in NAMES)
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# Even numerically equal zero maps have a different canonical hash.
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assert full_profile_sha256('a' * 64, negative) != base.applied_full_profile_sha256
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changed = replace(base, applied=negative, applied_full_profile_sha256=full_profile_sha256('a' * 64, negative)).validate()
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decoded = decode(changed)
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assert struct.pack('!d', decoded.applied[0][1]) == struct.pack('!d', -0.)
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assert decoded.applied_full_profile_sha256 == changed.applied_full_profile_sha256
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