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https://github.com/firestar5683/StarPilot.git
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Dom
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.
62 lines
2.4 KiB
Python
62 lines
2.4 KiB
Python
"""Actual daemon status delivery order; no native or physical authority is created."""
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from types import SimpleNamespace
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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 (
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BASE, LoopComplete, NoLegacyFitter, RecordingActor, source,
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)
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from openpilot.starpilot.flm.tests.test_live_trial_owner import offer
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@pytest.mark.parametrize('new_offer', (False, True))
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def test_real_pose_status_precedes_optional_work_and_late_writes_use_current_clock(monkeypatch, new_offer):
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now = [BASE - 50_000_000]
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sends, writes = [], []
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class SM:
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updated = {'deviceMotion': False}
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logMonoTime = {'deviceMotion': 0}
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steps = 0
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def update(self, timeout=None):
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self.steps += 1
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if self.steps > 3:
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raise LoopComplete
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now[0] += 50_000_000
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self.updated['deviceMotion'] = True
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self.logMonoTime['deviceMotion'] = now[0]
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actor = RecordingActor()
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original_writer = steerlearnerd.tracking_message
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def write_source(*args, **kwargs):
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writes.append((kwargs['now_ns'], now[0]))
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return original_writer(*args, **kwargs)
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def tick(collector, current_source, **kwargs):
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if not actor.calls:
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assert len(sends) == 1, 'Genuine source status must not wait for optional numerical preparation'
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assert sends[0][1].starpilotSteeringTracking.trial.version == 0
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assert sends[0][1].starpilotSteeringTracking.restore.version == 0
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actor.calls.append((collector, current_source, kwargs))
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now[0] += 100_000_000 # Declared optional-work delay, not a changed message timestamp.
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return offer(BASE) if new_offer else None
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def send(topic, message):
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if topic == 'starpilotSteeringTracking':
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sends.append((now[0], message.as_reader()))
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monkeypatch.setattr(actor, 'tick', tick)
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monkeypatch.setattr(steerlearnerd, 'tracking_message', write_source)
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monkeypatch.setattr(steerlearnerd, 'drain_pair', lambda *args: None)
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fitter = NoLegacyFitter()
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with pytest.raises(LoopComplete):
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steerlearnerd.run(SimpleNamespace(), SM(), object(), object(), SimpleNamespace(send=send),
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None, None, lambda stamp: source(stamp), None, None, None, None, fitter, None,
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clock=lambda: now[0], live_actor=actor)
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assert writes and all(passed == actual for passed, actual in writes)
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assert all(message.starpilotSteeringTracking.trial.version == 0 for _, message in sends)
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assert actor.closed and fitter.closed
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