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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>
48 lines
2.5 KiB
Python
48 lines
2.5 KiB
Python
from types import SimpleNamespace
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import pytest
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from openpilot.cereal import log, messaging
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from openpilot.starpilot.navigation.wire import VERSION, LEGACY_SOURCE_FORMAT, navigation_state, navigation_envelope, decode_legacy_navigation
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def value():
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return {'sessionId': 'navigation', 'frameMonoTime': 100, 'startedMonoTime': 10, 'revision': 'revision',
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'enabled': True, 'controlValid': True, 'status': 'guiding', 'locationMonoTime': 100,
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'route': [{'latitude': 1., 'longitude': 2.}]}
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def test_nested_navigation_roundtrip_preserves_historical_prefix():
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message = messaging.new_message('starpilotNavigation')
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message.starpilotNavigation = navigation_envelope(value())
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message.starpilotNavigation.hudControl.audibleAlert = 'engage'
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message.starpilotNavigation.steeringLimitInfo.valid = True
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with log.Event.from_bytes(message.to_bytes()) as decoded:
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assert decoded.starpilotNavigation.hudControl.audibleAlert == 'engage'
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assert decoded.starpilotNavigation.steeringLimitInfo.valid
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assert navigation_state(decoded.starpilotNavigation).version == VERSION
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assert navigation_state(decoded.starpilotNavigation).route[0].latitude == 1.
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@pytest.mark.parametrize('envelope', (None, SimpleNamespace(sessionId='old-flat', enabled=True),
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SimpleNamespace(navigation=SimpleNamespace(version=0)),
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SimpleNamespace(navigation=SimpleNamespace(version=1))))
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def test_old_flat_or_unknown_live_version_never_admits(envelope):
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assert navigation_state(envelope) is None
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def test_explicit_offline_legacy_schema_preserves_published_data_only():
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import capnp
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from pathlib import Path
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from openpilot.starpilot.navigation import wire
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schema = capnp.load(str(Path(wire.__file__).with_name('legacy_navigation.capnp')))
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raw = schema.LegacyNavigation.new_message(**value()).to_bytes()
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assert decode_legacy_navigation(raw, source_format='unknown', event_stamp_ns=100) is None
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decoded = decode_legacy_navigation(raw, source_format=LEGACY_SOURCE_FORMAT, event_stamp_ns=100)
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assert decoded['sessionId'] == 'navigation' and decoded['route'][0]['latitude'] == 1.
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assert decode_legacy_navigation(b'bad', source_format=LEGACY_SOURCE_FORMAT, event_stamp_ns=100) is None
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from openpilot.cereal import custom
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historical = custom.StarPilotCarControl.new_message()
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historical.hudControl.audibleAlert = 'engage'
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assert decode_legacy_navigation(historical.to_bytes(), source_format=LEGACY_SOURCE_FORMAT, event_stamp_ns=100) is None
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