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>
297 lines
17 KiB
Python
297 lines
17 KiB
Python
import base64
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import hashlib
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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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import uuid
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from unittest.mock import Mock, patch
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from openpilot.starpilot.galaxy.access import GalaxyAccessOwner
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from openpilot.starpilot.galaxy.remote import RemotePairing
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from openpilot.starpilot.galaxy.server import make_remote_server, make_server
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from openpilot.starpilot.navigation.owner import NavigationOwner
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PLACE = {'name': 'Library', 'latitude': 41.1, 'longitude': -88.2}
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class NavigationHttpTest(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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root = Path(temporary.name)
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self.access = GalaxyAccessOwner(root / 'access')
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self.pairing = RemotePairing(root / 'pairing')
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self.navigation = NavigationOwner(root / 'navigation', runtime_source=lambda: None, transient_root=root/'boot-navigation')
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self.parked = True
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self.local = make_server(port=0, owner=self.access, remote_pairing=self.pairing, navigation=self.navigation,
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parked=lambda: self.parked)
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self.remote = make_remote_server(self.local, port=0)
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self.servers = []
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for server in (self.local, self.remote):
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thread = threading.Thread(target=server.serve_forever, kwargs={'poll_interval': .01}, daemon=True)
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thread.start()
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self.servers.append((server, thread))
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self.addCleanup(self.close)
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self.local_cookie = self.request()[2]['Set-Cookie'].split(';', 1)[0]
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self.access.configure('password123', lambda: True)
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self.slug = self.pairing.pair(hashlib.sha256(b'password123').hexdigest())
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record = self.pairing.read()
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assert record is not None
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self.remote_cookie = 'galaxy_session=' + base64.urlsafe_b64encode(json.dumps({self.slug: record['session']}).encode()).decode().rstrip('=')
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def close(self):
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for server, thread in reversed(self.servers):
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server.shutdown()
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thread.join(timeout=2)
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server.server_close()
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def request(self, path='/api/auth/session', *, payload=None, remote=False, cookie=None, origin=None):
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server = self.remote if remote else self.local
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host = f'{self.slug}.devices.local' if remote else f'127.0.0.1:{server.server_port}'
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headers = {'Host': host}
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if cookie is not None:
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headers['Cookie'] = cookie
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if payload is not None:
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headers.update({'Content-Type': 'application/json', 'Origin': origin or ('https://galaxy.firestar.link' if remote else f'http://{host}')})
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connection = http.client.HTTPConnection('127.0.0.1', server.server_port, timeout=2)
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try:
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connection.request('POST' if payload is not None else 'GET', path,
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json.dumps(payload) if payload is not None else None, 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 test_map_tiles_recheck_authentication_after_provider(self):
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def tile(*args):
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self.pairing.unpair()
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return b'fixture tile'
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self.navigation.map_tile = Mock(side_effect=tile)
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connection = http.client.HTTPConnection('127.0.0.1', self.remote.server_port, timeout=2)
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try:
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connection.request('GET', '/api/navigation/map/tiles/0/0/0.png', headers={'Host': f'{self.slug}.devices.local', 'Cookie': self.remote_cookie})
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response = connection.getresponse()
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self.assertNotEqual(response.status, 200)
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self.assertNotIn(b'fixture tile', response.read())
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finally:
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connection.close()
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def test_map_theme_is_validated_and_forwarded(self):
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self.navigation.map_tile = Mock(return_value=b'fixture tile')
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for theme in ('light', 'dark'):
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connection = http.client.HTTPConnection('127.0.0.1', self.local.server_port, timeout=2)
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try:
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connection.request('GET', f'/api/navigation/map/tiles/0/0/0.png?theme={theme}',
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headers={'Host': f'127.0.0.1:{self.local.server_port}', 'Cookie': self.local_cookie})
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response = connection.getresponse()
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self.assertEqual(response.status, 200)
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self.assertEqual(response.read(), b'fixture tile')
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self.navigation.map_tile.assert_called_with(0, 0, 0, theme)
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finally:
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connection.close()
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self.navigation.map_tile.reset_mock()
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for query in ('theme=invalid', 'theme=', 'theme=light&theme=dark', 'style=custom'):
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status, _, _ = self.request('/api/navigation/map/tiles/0/0/0.png?' + query, cookie=self.local_cookie)
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self.assertEqual(status, 400)
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self.navigation.map_tile.assert_not_called()
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def action(self, action, *, remote=False, **values):
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return self.request('/api/navigation/action', payload=dict(action=action, revision=self.navigation.snapshot()['revision'], **values),
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remote=remote, cookie=self.remote_cookie if remote else self.local_cookie)
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def test_local_and_remote_share_real_destination_and_saved_places_without_secrets(self):
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for remote in (False, True):
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with self.subTest(remote=remote):
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result = self.action('configure', remote=remote, patch={'enabled': True, 'token': 'pk.secret-test-token'})
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self.assertEqual(result[0], 200)
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self.assertTrue(result[1]['hasKey'])
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self.assertNotIn('pk.secret-test-token', json.dumps(result))
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result = self.action('select', remote=remote, destination=PLACE)
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self.assertEqual(result[0], 200)
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self.assertEqual(result[1]['destination']['name'], 'Library')
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self.assertEqual(result[1]['status'], 'waitingForLocation')
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self.assertEqual(self.action('favorite', remote=remote, destination=PLACE)[0], 200)
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result = self.action('clear', remote=remote)
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self.assertIsNone(result[1]['destination'])
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self.assertEqual(len(result[1]['favorites']), 1)
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self.assertEqual(self.action('removeFavorite', remote=remote, id=result[1]['favorites'][0]['id'])[1]['favorites'], [])
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def test_autocomplete_search_requests(self):
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self.action('configure', patch={'enabled': True, 'token': 'pk.test'})
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search = {'query': 'cof', 'searchId': str(uuid.uuid4()), 'clientId': str(uuid.uuid4())}
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with patch.object(self.navigation, 'search_places', return_value=[]) as places:
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self.assertEqual(self.request('/api/navigation/search', payload={**search, 'autocomplete': True}, cookie=self.local_cookie)[0], 200)
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self.assertTrue(places.call_args.kwargs['autocomplete'])
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self.assertEqual(self.request('/api/navigation/search', payload=search, cookie=self.local_cookie)[0], 200)
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self.assertFalse(places.call_args.kwargs['autocomplete'])
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self.assertEqual(self.request('/api/navigation/search', payload={**search, 'autocomplete': 'yes'}, cookie=self.local_cookie)[0], 400)
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def test_alternative_route_action_uses_authenticated_revision(self):
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from openpilot.starpilot.navigation.route_engine import NavigationRoute
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route = NavigationRoute({'distance':100., 'duration':20., 'geometry':{'coordinates':[[0.,0.],[.001,0.]]},
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'legs':[{'steps':[{'distance':100.,'duration':20.,'maneuver':{'type':'depart','instruction':'Continue'}}]}]})
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self.action('configure', patch={'enabled':True,'token':'pk.test'})
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self.action('select', destination=PLACE)
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revision = self.navigation.read()['revision']
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self.navigation.record_routes(revision, [route,route])
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result = self.action('selectRoute', remote=True, index=1)
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self.assertEqual(result[0],200)
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self.assertEqual(result[1]['selectedRoute'],1)
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self.assertNotIn('pk.test',json.dumps(result))
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self.assertEqual(self.request('/api/navigation/action', payload={'action':'selectRoute','revision':revision,'index':0},
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remote=True,cookie=self.remote_cookie)[0],409)
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def test_gateway_auth_and_origin_are_required(self):
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self.assertEqual(self.request('/api/navigation/status', remote=True)[0], 401)
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self.assertEqual(self.request('/api/navigation/status', remote=True, cookie=self.local_cookie)[0], 401)
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payload = {'action': 'configure', 'revision': '0', 'patch': {'enabled': True}}
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self.assertEqual(self.request('/api/navigation/action', payload=payload, remote=True,
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cookie=self.remote_cookie, origin='https://wrong.example')[0], 403)
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self.assertFalse(self.navigation.snapshot()['enabled'])
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def test_keys_require_parked_but_destinations_do_not(self):
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self.parked = False
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self.assertEqual(self.action('configure', patch={'token': 'pk.new-key'})[0], 409)
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self.assertFalse(self.navigation.snapshot()['hasKey'])
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self.assertEqual(self.action('configure', patch={'enabled': True})[0], 200)
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self.assertEqual(self.action('select', destination=PLACE)[0], 200)
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def test_stale_or_invalid_actions_never_overwrite_configuration(self):
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self.action('configure', patch={'enabled': True})
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before = self.navigation.path.read_bytes()
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status = self.request('/api/navigation/action', payload={'action': 'clear', 'revision': '0'}, cookie=self.local_cookie)[0]
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self.assertEqual(status, 409)
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for payload in ({'action': 'configure', 'revision': '0', 'patch': {'OtherParam': True}},
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{'action': 'clear', 'revision': '0', 'unwanted': True}, {'action': [], 'revision': '0'},
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{'action': 'select', 'revision': '0', 'destination': {'name': 'bad', 'latitude': 95, 'longitude': 0}}):
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self.assertIn(self.request('/api/navigation/action', payload=payload, cookie=self.local_cookie)[0], (400, 409))
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self.assertEqual(self.navigation.path.read_bytes(), before)
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def test_poi_search_then_go_retrieves_only_selected_place(self):
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self.action('configure', patch={'token':'pk.synthetic','enabled':True})
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identity = 'poi/id'
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search = {'query':'coffee', 'searchId':str(uuid.uuid4()), 'clientId':str(uuid.uuid4())}
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suggestion = {'suggestions':[{'mapbox_id':identity,'name':'Coffee Shop','feature_type':'poi'}]}
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feature = {'features':[{'properties':{'mapbox_id':identity,'name':'Coffee Shop'},
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'geometry':{'coordinates':[-90.,40.]}}]}
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with patch('openpilot.starpilot.navigation.owner.response_json',side_effect=[suggestion,feature]) as provider:
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status, result, _ = self.request('/api/navigation/search',payload=search,cookie=self.local_cookie)
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self.assertEqual(status,200)
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self.assertEqual(provider.call_count,1)
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self.assertNotIn('latitude',result['results'][0])
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status, result, _ = self.action('selectPlace',id=identity,searchId=search['searchId'])
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self.assertEqual(status,200)
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self.assertEqual(result['destination']['name'],'Coffee Shop')
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self.assertEqual(provider.call_count,2)
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self.assertEqual(provider.call_args_list[0].args[2]['session_token'],provider.call_args_list[1].args[2]['session_token'])
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self.assertIsNone(self.navigation.read()['destination'])
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self.assertEqual(result['destination']['temporary'],True)
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self.assertEqual(result['recents'],[])
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self.assertNotIn('Coffee Shop',self.navigation.path.read_text())
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self.assertNotIn('pk.synthetic',json.dumps(result))
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self.assertEqual(self.action('selectPlace',id=identity,searchId=search['searchId'])[0],400)
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self.assertEqual(self.action('favorite',destination=result['destination'],label='work')[0],400)
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status, saved, _ = self.action('favorite',destination={'name':'Work address','latitude':41.,'longitude':-91.},label='work')
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self.assertEqual(status,200)
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self.assertEqual(saved['favorites'][0]['label'],'work')
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place = saved['favorites'][0]['id']
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status, labeled, _ = self.action('labelFavorite',id=place,label='home')
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self.assertEqual((status,labeled['favorites'][0]['label']),(200,'home'))
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self.assertEqual(self.action('labelFavorite',id=place,label='gym')[0],400)
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self.assertEqual(self.action('labelFavorite',id=place,label=None)[1]['favorites'][0].get('label'),None)
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self.assertEqual(self.action('removeRecent',id=place)[1]['recents'],[])
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self.assertEqual(self.action('clearRecents')[1]['recents'],[])
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self.assertEqual(self.action('removeFavorite',id=place)[1]['favorites'],[])
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def test_temporary_search_result_cannot_be_saved(self):
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self.action('configure', patch={'token':'pk.synthetic','enabled':True})
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search = {'query':'coffee', 'searchId':str(uuid.uuid4()), 'clientId':str(uuid.uuid4())}
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suggestion = {'suggestions':[{'mapbox_id':'poi/id','name':'Coffee Shop','feature_type':'poi'}]}
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with patch('openpilot.starpilot.navigation.owner.response_json',return_value=suggestion) as provider:
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self.assertEqual(self.request('/api/navigation/search',payload=search,cookie=self.local_cookie)[0],200)
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status, body, _ = self.action('favoritePlace',id='poi/id',searchId=search['searchId'],label='home')
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self.assertEqual(status,400)
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self.assertIn('cannot be saved',body['error'])
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self.assertEqual(provider.call_count,1)
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self.assertEqual(self.navigation.read()['favorites'],[])
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def test_status_poll_with_route_key_omits_unchanged_route(self):
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self.action('configure', patch={'token':'pk.synthetic','enabled':True})
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status, full, _ = self.request('/api/navigation/status', cookie=self.local_cookie)
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self.assertEqual(status,200)
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status, light, _ = self.request('/api/navigation/status?routeKey=' + full['routeKey'], cookie=self.local_cookie)
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self.assertEqual((status,light['routeUnchanged']),(200,True))
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self.assertNotIn('route',light)
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status, ignored, _ = self.request('/api/navigation/status?routeKey=bogus&x=1', cookie=self.local_cookie)
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self.assertEqual(status,200)
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self.assertIn('route',ignored)
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def test_slow_poi_retrieve_does_not_block_other_settings_actions(self):
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self.action('configure',patch={'token':'pk.synthetic','enabled':True})
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search = {'query':'coffee','searchId':str(uuid.uuid4()),'clientId':str(uuid.uuid4())}
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with patch('openpilot.starpilot.navigation.owner.response_json',return_value={
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'suggestions':[{'mapbox_id':'poi/id','name':'Coffee Shop','feature_type':'poi'}]}):
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self.request('/api/navigation/search',payload=search,cookie=self.local_cookie)
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entered, release, changed = threading.Event(), threading.Event(), threading.Event()
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results = {}
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def slow(*args):
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entered.set()
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release.wait(3)
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return {'features':[{'properties':{'mapbox_id':'poi/id','name':'Coffee Shop'},'geometry':{'coordinates':[-90.,40.]}}]}
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def retrieve():
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results['retrieve'] = self.action('selectPlace',id='poi/id',searchId=search['searchId'])[0]
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def configure():
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results['configure'] = self.action('configure',patch={'token':'pk.changed'})[0]
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changed.set()
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with patch('openpilot.starpilot.navigation.owner.response_json',side_effect=slow):
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worker = threading.Thread(target=retrieve)
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worker.start()
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self.assertTrue(entered.wait(2))
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other = threading.Thread(target=configure)
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other.start()
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try:
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self.assertTrue(changed.wait(1),'Provider retrieval blocked unrelated Galaxy actions')
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finally:
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release.set()
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worker.join(3)
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other.join(3)
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self.assertEqual(results,{'configure':200,'retrieve':409})
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self.assertIsNone(self.navigation.snapshot()['destination'])
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def test_browser_cancel_makes_suggestion_unselectable(self):
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self.action('configure',patch={'token':'pk.synthetic','enabled':True})
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search = {'query':'coffee','searchId':str(uuid.uuid4()),'clientId':str(uuid.uuid4())}
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with patch('openpilot.starpilot.navigation.owner.response_json',return_value={
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'suggestions':[{'mapbox_id':'poi/id','name':'Coffee Shop','feature_type':'poi'}]}) as provider:
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self.assertEqual(self.request('/api/navigation/search',payload=search,cookie=self.local_cookie)[0],200)
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self.assertEqual(self.action('cancelSearch',searchId=search['searchId'])[0],200)
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self.assertEqual(self.action('selectPlace',id='poi/id',searchId=search['searchId'])[0],400)
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self.assertEqual(provider.call_count,1)
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def test_poi_retrieve_rechecks_auth_before_temporary_selection(self):
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self.action('configure',patch={'token':'pk.synthetic','enabled':True})
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search = {'query':'coffee','searchId':str(uuid.uuid4()),'clientId':str(uuid.uuid4())}
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with patch('openpilot.starpilot.navigation.owner.response_json',return_value={
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'suggestions':[{'mapbox_id':'poi/id','name':'Coffee Shop','feature_type':'poi'}]}):
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self.assertEqual(self.request('/api/navigation/search',payload=search,remote=True,cookie=self.remote_cookie)[0],200)
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def revoked(*args):
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self.pairing.unpair()
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return {'features':[{'properties':{'mapbox_id':'poi/id','name':'Coffee Shop'},'geometry':{'coordinates':[-90.,40.]}}]}
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before = self.navigation.path.read_bytes()
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with patch('openpilot.starpilot.navigation.owner.response_json',side_effect=revoked):
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status, result, _ = self.action('selectPlace',id='poi/id',searchId=search['searchId'],remote=True)
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self.assertEqual(status,401)
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self.assertEqual(self.navigation.path.read_bytes(),before)
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self.assertNotIn('Coffee Shop',json.dumps(result))
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self.assertEqual(list(self.navigation.transient_root.glob('*.json')),[])
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def test_search_checks_session_again_after_provider_returns(self):
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self.navigation.search = Mock(side_effect=lambda query: (self.pairing.unpair(), [PLACE])[1])
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result = self.request('/api/navigation/search', payload={'query': 'Library'}, remote=True, cookie=self.remote_cookie)
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self.assertEqual(result[0], 401)
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self.assertNotIn('Library', json.dumps(result[1]))
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