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firestar5683
ab81464bd1
Add navigation and map matching providers with the vendored map service sources. Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
99 lines
4.5 KiB
Python
99 lines
4.5 KiB
Python
import json
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from unittest.mock import patch
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import pytest
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from openpilot.starpilot.navigation.owner import NavigationOwner, ValidationError, ConflictError, response_json
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PLACE = {'name': 'Home', 'latitude': 40., 'longitude': -90.}
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@pytest.fixture
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def owner(tmp_path):
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return NavigationOwner(tmp_path, runtime_source=lambda: None)
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def test_settings_private_atomic_and_revision_scoped(owner):
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assert owner.snapshot()['enabled'] is False
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saved = owner.configure({'enabled': True, 'token': 'pk.test'}, '0', True)
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assert saved['hasKey'] and 'token' not in saved and saved['status'] == 'noDestination'
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assert owner.path.stat().st_mode & 0o777 == 0o600
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with pytest.raises(ConflictError):
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owner.select(PLACE, '0', True)
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selected = owner.select(PLACE, saved['revision'], True)
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assert selected['destination']['name'] == 'Home'
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assert owner.favorite(PLACE, selected['revision'], True)['favorites'][0]['name'] == 'Home'
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assert 'pk.test' not in json.dumps(owner.snapshot())
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def test_authority_rechecked_after_flush(owner):
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calls = iter((True, False))
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with pytest.raises(PermissionError):
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owner.configure({'enabled': True}, '0', lambda: next(calls))
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assert not owner.path.exists()
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assert list(owner.root.glob('.settings-*')) == []
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def test_corrupt_existing_settings_not_overwritten(owner):
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owner.path.write_text('{invalid')
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with pytest.raises(ValidationError):
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owner.configure({'enabled': True}, '0', True)
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assert owner.path.read_text() == '{invalid'
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@pytest.mark.parametrize('value', [dict(PLACE, latitude=float('nan')), dict(PLACE, latitude=True), dict(PLACE, longitude=181),
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dict(PLACE, name=''), None])
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def test_invalid_destination(owner, value):
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with pytest.raises(ValidationError):
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owner.select(value, '0', True)
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def test_current_units_and_stale_revision_not_presented(owner):
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saved = owner.configure({'enabled': True, 'token': 'pk.test'}, '0', True)
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selected = owner.select(PLACE, saved['revision'], True)
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owner.runtime_source = lambda: {'revision': saved['revision'], 'status': 'guiding', 'instruction': {'text': 'old'}, 'route': []}
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with patch('openpilot.common.params.Params') as params:
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params.return_value.get_bool.return_value = True
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status = owner.snapshot()
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assert status['isMetric'] and status['instruction'] is None
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assert selected['revision'] != saved['revision']
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def test_response_limits_and_private_failures():
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from unittest.mock import Mock
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response = Mock(status_code=200)
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response.__enter__ = Mock(return_value=response)
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response.__exit__ = Mock(return_value=False)
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response.iter_content.return_value = [b'{"ok":true}']
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session = Mock()
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session.get.return_value = response
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assert response_json(session, 'https://api.mapbox.com', {'access_token': 'private'}) == {'ok': True}
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with patch('openpilot.starpilot.navigation.owner.time.monotonic', side_effect=[0, 11]):
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with pytest.raises(ValidationError, match='too long'):
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response_json(session, 'https://api.mapbox.com', {})
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def test_status_polls_skip_route_lines_the_client_already_holds(owner):
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saved = owner.configure({'enabled': True, 'token': 'pk.test'}, '0', True)
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selected = owner.select(PLACE, saved['revision'], True)
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line = [{'latitude': 40.123456789, 'longitude': -90.987654321}, {'latitude': 40.2, 'longitude': -90.1}]
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owner.runtime_source = lambda: {'revision': selected['revision'], 'status': 'guiding', 'instruction': None, 'route': line}
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full = owner.snapshot()
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assert full['route'][0] == {'latitude': 40.123457, 'longitude': -90.987654}, "drawn lines are sent at ~10 cm precision"
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light = owner.snapshot(full['routeKey'])
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assert light['routeUnchanged'] is True and 'route' not in light and 'alternatives' not in light
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assert light['routeKey'] == full['routeKey'] and light['destination'] == full['destination']
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line.append({'latitude': 40.3, 'longitude': -90.})
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changed = owner.snapshot(full['routeKey'])
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assert len(changed['route']) == 3 and changed['routeKey'] != full['routeKey'] and 'routeUnchanged' not in changed
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def test_reads_reparse_only_after_a_write(owner):
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saved = owner.configure({'enabled': True, 'token': 'pk.test'}, '0', True)
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first = owner.read()
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first['favorites'].append('mutated by a caller')
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with patch('openpilot.starpilot.navigation.owner.json.loads', side_effect=AssertionError('reparsed')):
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assert owner.read()['favorites'] == [], "cached copies are independent of what callers change"
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assert owner.select(PLACE, saved['revision'], True)['destination']['name'] == 'Home'
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assert owner.read()['destination']['name'] == 'Home'
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