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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.
59 lines
3.1 KiB
Python
59 lines
3.1 KiB
Python
"""Actual daemon scheduling only; synthetic collector is not fit/native proof."""
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from openpilot.starpilot.flm.tests._drain_fixture import separate_drain_fixture
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from types import SimpleNamespace as S
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import pytest
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from openpilot.starpilot.flm import steerlearnerd
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from openpilot.starpilot.flm.tests.test_live_tracking_daemon import BASE, source
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@pytest.mark.parametrize('fresh_allowed', [True, False])
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def test_pose_observer_consumes_delivery_that_arrived_during_decoding(monkeypatch, fresh_allowed):
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now = [BASE]
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class Stop(Exception):
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pass
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class SM:
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updated = {'deviceMotion': False}
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logMonoTime = {'deviceMotion': BASE}
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marker = 'old'
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pending = False
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def update(self, timeout=None):
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if timeout == 0 and self.pending:
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self.marker = 'new'
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self.updated['deviceMotion'] = True
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self.logMonoTime['deviceMotion'] = now[0]
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self.pending = False
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sm = SM()
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evidence = S(source_epoch='b'*64, source_receipt_ns=BASE, control_ns=BASE,
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identity='a'*64, generation=1, domain='normalized_torque', stage_revision='stage',
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response_revision='response', controller_mode='torque', policy='policy',
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baseline_revision='d'*64, controller_revision='controller', turn_assist=False)
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adapter = S(event_collection=True, source_plant_protocol='fixture',
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bind_source=lambda value: None, select_objective=lambda key: None, prepare_control=lambda value: value)
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collector = S(adapter=adapter, ready=[(evidence, object())], control=lambda *args: None)
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monkeypatch.setattr('openpilot.starpilot.flm.event_collector.EventFullrateCollector', lambda value: collector)
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monkeypatch.setattr('openpilot.starpilot.flm.source_plant_runtime.start_original_capture', lambda value: True)
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monkeypatch.setattr('openpilot.starpilot.flm.native_health.current_native_health',
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lambda *args: sm.marker == 'new' and fresh_allowed)
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monkeypatch.setattr(steerlearnerd, 'read_control', lambda event: evidence)
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seen = []
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def observe(_sm, cp, current, stamp, native):
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seen.append((_sm.marker, stamp, native, _sm.logMonoTime['deviceMotion']))
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raise Stop
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monkeypatch.setattr('openpilot.starpilot.flm.source_plant_runtime.observe', observe)
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control_socket, applied_socket = object(), object()
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def drain(sock, callback, *args):
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if sock is control_socket:
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callback(S(which=lambda:'starpilotLateralState', starpilotLateralState=S(learningEvidence=S(version=1))), None, BASE)
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else:
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now[0] += 80_000_000
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sm.pending = True
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monkeypatch.setattr(steerlearnerd, 'drain_pair', separate_drain_fixture(drain))
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actor=S(ingress=None, interrupt=lambda *a,**k: None, close=lambda *a: True)
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fitter=S(cancel=lambda *a: None, close=lambda *a: True)
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with pytest.raises(Stop):
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steerlearnerd.run(S(),sm,control_socket,applied_socket,S(),lambda *a:adapter,None,
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lambda stamp:source(stamp),lambda value:('objective',),lambda value:'objective',
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None,None,fitter,None,clock=lambda:now[0],live_actor=actor)
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assert seen == [('new', BASE+80_000_000, fresh_allowed, BASE+80_000_000)]
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assert sm.logMonoTime['deviceMotion'] == BASE+80_000_000
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