mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
95 lines
3.6 KiB
Python
95 lines
3.6 KiB
Python
"""Real SubMaster/cereal rate and health contracts; no frequency flag injection.
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update_msgs supplies deterministic transport receipt times to the production
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SubMaster implementation. These tests do not claim physical source evidence.
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"""
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import pytest
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from openpilot.cereal import messaging
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from openpilot.cereal.services import SERVICE_LIST
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from openpilot.common.prefix import OpenpilotPrefix
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LEGACY = 'autoSteeringLearning'
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LIVE = 'starpilotSteeringTracking'
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BASE = 700_000_000_000
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DT = 10_000_000
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def packet(service, now, *, valid=True):
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event = messaging.new_message(service, valid=valid, logMonoTime=now)
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return messaging.log_from_bytes(event.to_bytes())
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def deliver(sm, tick, *, legacy=True, live=True, live_period=5, legacy_period=25, live_valid=True):
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now = BASE + tick * DT
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events = [packet('carState', now)]
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if legacy and tick % legacy_period == 0:
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events.append(packet(LEGACY, now))
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if live and tick % live_period == 0:
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events.append(packet(LIVE, now, valid=live_valid))
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sm.update_msgs(now / 1e9, events)
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return now
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def test_separate_topics_keep_declared4_and20hz_and_ordinary_health(monkeypatch):
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monkeypatch.setenv('SIMULATION', '0')
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assert SERVICE_LIST[LEGACY].frequency == 4.0
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assert SERVICE_LIST[LIVE].frequency == 20.0
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with OpenpilotPrefix():
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sm = messaging.SubMaster(['carState', LEGACY, LIVE], frequency=100)
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assert not sm.simulation
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for tick in range(201):
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deliver(sm, tick)
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if tick >= 25:
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assert sm.all_checks(), (tick, sm.alive, sm.valid, sm.freq_ok)
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# The optional publisher can stop without changing the legacy publisher's
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# rate, validity or health. The live raw health fails at its real threshold.
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last_live = sm.recv_time[LIVE]
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for tick in range(201, 261):
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deliver(sm, tick, live=False)
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assert sm.recv_time[LIVE] == last_live
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assert not sm.alive[LIVE]
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assert not sm.all_checks()
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assert sm.all_checks(['carState', LEGACY])
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for tick in range(261, 301):
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deliver(sm, tick)
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assert sm.all_checks()
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@pytest.mark.parametrize('wrong_service', [LEGACY, LIVE])
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def test_standard_submaster_rejects_swapped_rates_without_forged_freq_flags(monkeypatch, wrong_service):
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monkeypatch.setenv('SIMULATION', '0')
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with OpenpilotPrefix():
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sm = messaging.SubMaster(['carState', LEGACY, LIVE], frequency=100)
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for tick in range(301):
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deliver(sm, tick, legacy_period=5 if wrong_service == LEGACY else 25,
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live_period=25 if wrong_service == LIVE else 5)
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assert sm.seen[wrong_service] and sm.valid[wrong_service] and sm.alive[wrong_service]
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assert not sm.freq_ok[wrong_service]
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assert not sm.all_freq_ok() and not sm.all_checks()
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other = LIVE if wrong_service == LEGACY else LEGACY
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assert sm.freq_ok[other]
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def test_optional_live_failure_does_not_create_ordinary_comm_issue(monkeypatch):
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monkeypatch.setenv('SIMULATION', '0')
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with OpenpilotPrefix():
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sm = messaging.SubMaster(['carState', LEGACY, LIVE], frequency=100,
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ignore_alive=[LIVE], ignore_valid=[LIVE], ignore_avg_freq=[LIVE])
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for tick in range(101):
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deliver(sm, tick)
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assert sm.freq_ok[LEGACY] and sm.freq_ok[LIVE]
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deliver(sm, 101, live_period=1, live_valid=False)
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assert not sm.valid[LIVE]
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assert sm.all_checks()
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for tick in range(102, 162):
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deliver(sm, tick, live=False)
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assert not sm.alive[LIVE]
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assert sm.all_checks()
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# A genuine ordinary input failure must still reach ordinary aggregation.
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now = BASE + 162 * DT
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sm.update_msgs(now / 1e9, [packet('carState', now, valid=False)])
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assert not sm.all_valid() and not sm.all_checks()
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