mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
94 lines
4.3 KiB
Python
94 lines
4.3 KiB
Python
import http.client
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import json
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from pathlib import Path
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import tempfile
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import threading
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import unittest
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from unittest.mock import patch
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from openpilot.starpilot.controllers.transport import ControllerBusy, ControllerDenied, ControllerInvalid, ControllerUnavailable
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from openpilot.starpilot.galaxy.access import GalaxyAccessOwner
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from openpilot.starpilot.galaxy.server import make_server
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class LayoutAuthority:
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def __init__(self):
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self.parked_now = True
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self.checks = 0
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def parked(self):
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self.checks += 1
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return self.parked_now
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class ControllersHttpTest(unittest.TestCase):
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def setUp(self):
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temporary = tempfile.TemporaryDirectory()
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self.addCleanup(temporary.cleanup)
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self.socket = Path(temporary.name) / 'controller.sock'
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self.layouts = LayoutAuthority()
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self.status = patch('openpilot.starpilot.galaxy.server.controller_status', return_value={'version': 1}).start()
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self.action = patch('openpilot.starpilot.galaxy.server.controller_action', return_value={'version': 1}).start()
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self.addCleanup(patch.stopall)
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self.server = make_server(port=0, owner=GalaxyAccessOwner(Path(temporary.name) / 'access'),
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layouts=self.layouts, controllers_socket=self.socket)
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self.worker = threading.Thread(target=self.server.serve_forever, kwargs={'poll_interval': .01}, daemon=True)
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self.worker.start()
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self.addCleanup(self.stop)
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def stop(self):
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self.server.shutdown()
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self.worker.join(timeout=2)
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self.server.server_close()
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def request(self, path, payload=None, cookie='', *, origin=None, raw=None):
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connection = http.client.HTTPConnection('127.0.0.1', self.server.server_port, timeout=3)
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headers = {'Cookie': cookie}
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body = raw if raw is not None else json.dumps(payload) if payload is not None else None
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if body is not None:
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headers.update({'Content-Type': 'application/json', 'Origin': origin or f'http://127.0.0.1:{self.server.server_port}'})
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try:
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connection.request('POST' if body is not None else 'GET', path, body=body, headers=headers)
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response = connection.getresponse()
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return response.status, json.loads(response.read()), dict(response.getheaders())
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finally:
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connection.close()
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def login(self):
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status, _, headers = self.request('/api/auth/session')
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self.assertEqual(status, 200)
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return headers['Set-Cookie'].split(';', 1)[0]
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def test_session_origin_parked_and_exact_transport_forwarding(self):
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self.assertEqual(self.request('/api/controllers/status')[0], 401)
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cookie = self.login()
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self.assertEqual(self.request('/api/controllers/status', cookie=cookie)[0], 200)
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self.status.assert_called_once_with(self.socket)
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self.assertGreater(self.layouts.checks, 0)
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payload = {'operation': 'learn', 'revision': 'a' * 64, 'slot': 3}
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self.assertEqual(self.request('/api/controllers/action', payload, cookie)[0], 200)
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self.action.assert_called_once_with(payload, self.socket)
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self.assertEqual(self.request('/api/controllers/action', payload, cookie, origin='http://evil.example')[0], 403)
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self.assertEqual(self.action.call_count, 1)
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self.layouts.parked_now = False
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self.assertEqual(self.request('/api/controllers/action', payload, cookie)[0], 403)
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self.assertEqual(self.action.call_count, 1)
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self.assertEqual(self.request('/api/controllers/action', payload)[0], 401)
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def test_protocol_errors_and_no_button_press_route(self):
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cookie = self.login()
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payload = {'operation': 'save', 'revision': 'a' * 64, 'enabled': False, 'slots': [None] * 10}
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for error, expected in ((ControllerInvalid('bad'), 400), (ControllerDenied('park'), 403),
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(ControllerBusy('busy'), 429), (ControllerUnavailable('offline'), 503)):
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self.action.side_effect = error
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self.assertEqual(self.request('/api/controllers/action', payload, cookie)[0], expected)
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self.assertEqual(self.request('/api/controllers/action', cookie=cookie,
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raw='{"operation":"test","operation":"cancel"}')[0], 400)
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self.assertEqual(self.request('/api/controllers/press', {'deviceId': 'x', 'code': 30}, cookie)[0], 405)
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self.status.side_effect = ControllerUnavailable('offline')
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self.assertEqual(self.request('/api/controllers/status', cookie=cookie)[0], 503)
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if __name__ == '__main__':
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unittest.main()
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