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https://github.com/firestar5683/StarPilot.git
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firestar5683
fc73a3383e
Wire longitudinal feature selection and inputs into planner hosts after their owners are available. Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: whoisdomi <dcantu83@gmail.com>
95 lines
4.3 KiB
Python
95 lines
4.3 KiB
Python
"""Real saved-source/CAS selection; upstream algorithm imports qualify separately."""
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import ast
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import hashlib
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import json
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from pathlib import Path
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from types import SimpleNamespace
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import tempfile
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import unittest
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from openpilot.starpilot.longitudinal.planner_selection import KEY, read_selection, run_selected, save_selection
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class Params:
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def __init__(self, root):
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self.root = Path(root)
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(self.root / 'd').mkdir()
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def get_param_path(self, key):
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return str(self.root / 'd' / key)
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class TestPlannerSelection(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.params = Params(temporary.name)
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self.path = Path(self.params.get_param_path(KEY))
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def test_default_on_exact_off_and_invalid_sources(self):
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self.assertEqual((read_selection(self.params).starpilot, read_selection(self.params).valid), (True, True))
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for raw, starpilot, valid in ((b'0', False, True), (b'1', True, True), (b'0\n', True, False),
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(b'', True, False), (b'garbage', True, False), (b'0' * 9, True, False)):
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self.path.write_bytes(raw)
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value = read_selection(self.params)
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self.assertEqual((value.starpilot, value.valid), (starpilot, valid))
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self.path.unlink()
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self.path.symlink_to(self.params.root / 'missing')
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self.assertTrue(read_selection(self.params).starpilot)
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self.assertFalse(read_selection(self.params).valid)
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def test_off_calls_only_separate_upstream_entrypoint(self):
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self.path.write_bytes(b'0')
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calls = []
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def importer(name):
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calls.append(name)
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return SimpleNamespace(main=lambda: calls.append('upstream_loop'))
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run_selected(self.params, lambda: self.fail('StarPilot host executed while Off'), importer=importer)
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self.assertEqual(calls, ['openpilot.starpilot.longitudinal.upstream.plannerd', 'upstream_loop'])
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def test_on_never_imports_upstream_and_latches_during_loop(self):
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def starpilot():
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self.assertTrue(save_selection(self.params, 'Off', None, authorized=lambda: True))
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# Existing selected process is not swapped by a preference write.
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return 'same_starpilot_session'
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self.assertEqual(run_selected(self.params, starpilot, importer=lambda _: self.fail('Upstream imported while On')),
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'same_starpilot_session')
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self.assertFalse(read_selection(self.params).starpilot)
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def test_persistent_selection_cas_and_authority(self):
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self.assertFalse(save_selection(self.params, 'Off', None, authorized=lambda: False))
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self.assertFalse(self.path.exists())
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self.assertTrue(save_selection(self.params, 'Off', None, authorized=lambda: True))
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self.assertEqual(self.path.read_bytes(), b'0')
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self.assertFalse(save_selection(self.params, 'On', None, authorized=lambda: True))
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self.assertFalse(save_selection(self.params, 'invalid', b'0', authorized=lambda: True))
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self.assertTrue(save_selection(self.params, 'On', b'0', authorized=lambda: True))
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self.assertTrue(read_selection(self.params).starpilot)
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def test_authority_loss_during_commit_preserves_source(self):
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self.path.write_bytes(b'1')
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calls = 0
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def authorized():
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nonlocal calls
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calls += 1
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return calls < 3
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self.assertFalse(save_selection(self.params, 'Off', b'1', authorized=authorized))
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self.assertEqual(self.path.read_bytes(), b'1')
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def test_pinned_upstream_files_and_isolated_mpc_imports(self):
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upstream = Path(__file__).parents[1] / 'upstream'
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manifest = json.loads((upstream / 'provenance.json').read_bytes())
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self.assertEqual(manifest['upstream_commit'], '521db4c825d37eb5f29acf955daa88da003e4433')
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for filename, entry in manifest['files'].items():
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self.assertEqual(hashlib.sha256((upstream / filename).read_bytes()).hexdigest(), entry['adapted_sha256'])
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planner = ast.parse((upstream / 'planner.py').read_text())
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imports = [node.module for node in planner.body if isinstance(node, ast.ImportFrom)]
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self.assertIn('openpilot.starpilot.longitudinal.upstream.mpc', imports)
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self.assertNotIn('openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc', imports)
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self.assertFalse(any(value and value.startswith('openpilot.starpilot.') and value !=
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'openpilot.starpilot.longitudinal.upstream.mpc' for value in imports))
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if __name__ == '__main__':
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unittest.main()
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