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firestar5683
e52e1a6a86
Implement Sentry scanning, notification state and worker cancellation through explicit policies and preferences.
141 lines
6.1 KiB
Python
141 lines
6.1 KiB
Python
"""Frozen numeric motion behavior and fail-closed parked policy boundaries."""
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from unittest.mock import Mock
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import pytest
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from openpilot.starpilot.sentry_mode.policy import (
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Inputs, MotionSample, SentryPolicy, Settings,
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)
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def active(sample: MotionSample | None = None) -> Inputs:
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return Inputs(enabled=True, offroad=True, voltage_ok=True, device_fresh=True, ignition_off=True, sample=sample)
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def motion(now: float, z: float) -> MotionSample:
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return MotionSample(now, (0.0, 0.0, z))
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def fresh_through(policy: SentryPolicy, start: float, end: float, z: float = 9.8):
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result = None
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for tenth in range(round(start * 10) + 1, round(end * 10) + 1):
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now = tenth / 10
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result = policy.update(now, active(motion(now, z)))
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return result
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def armed(policy: SentryPolicy) -> None:
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assert policy.update(0.0, active(motion(0.0, 9.8))).state == "arming"
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assert fresh_through(policy, 0.0, 89.9).state == "arming"
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assert policy.update(90.0, active(motion(90.0, 9.8))).state == "armed"
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def test_frozen_arming_warning_and_alarm_numeric_sequence():
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policy = SentryPolicy(Settings(sensitivity=0.1, warning_time_seconds=0.3))
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armed(policy)
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assert policy.settings.warning_trigger_count == 3
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assert policy.update(90.1, active(motion(90.1, 10.0))).event is None
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assert policy.update(90.2, active(motion(90.2, 9.8))).event is None
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assert policy.update(90.3, active(motion(90.3, 10.0))).event == "warning"
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assert policy.update(90.4, active(motion(90.4, 9.8))).event is None
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# The frozen detector requires strictly more than 25 changes and 30 s from
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# the first change. Feed 10 Hz fresh stable samples while that time elapses.
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for index in range(5, 26):
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now = 90.0 + index * 0.1
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assert policy.update(now, active(motion(now, 10.0 if index % 2 else 9.8))).event is None
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assert policy.trigger_count == 25
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assert fresh_through(policy, 92.5, 120.0, 10.0).event is None
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assert policy.update(120.1, active(motion(120.1, 9.8))).event == "alarm"
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assert policy.update(120.2, active(motion(120.2, 10.0))).event is None
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def test_duplicate_stale_invalid_and_out_of_order_samples_do_not_accumulate():
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policy = SentryPolicy(Settings(sensitivity=0.1, warning_time_seconds=0.2))
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armed(policy)
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assert policy.update(90.1, active(motion(90.1, 10.0))).event is None
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assert policy.update(90.2, active(motion(90.1, 9.8))).state == "sensor_unavailable"
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assert policy.trigger_count == 0
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assert policy.update(90.3, active(motion(90.1, 9.8))).state == "sensor_unavailable"
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assert policy.update(90.4, active(motion(90.4, 9.8))).state == "arming"
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assert policy.update(90.5, active(motion(90.3, 10.0))).state == "sensor_unavailable"
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assert policy.update(90.6, active(motion(90.6, 9.8))).state == "arming"
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def test_missing_sensor_during_arming_and_after_armed_requires_full_rearm():
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policy = SentryPolicy()
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assert policy.update(0.0, active()).state == "sensor_unavailable"
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assert policy.update(0.1, active(motion(0.1, 9.8))).state == "arming"
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assert fresh_through(policy, 0.1, 90.0).state == "arming"
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assert policy.update(90.1, active()).state == "sensor_unavailable"
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assert policy.update(90.2, active(motion(90.2, 9.8))).state == "arming"
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assert fresh_through(policy, 90.2, 180.3).state == "armed"
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assert policy.update(180.4, active()).state == "sensor_unavailable"
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assert policy.update(180.5, active(motion(180.5, 9.8))).state == "arming"
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def test_disabled_onroad_low_voltage_and_lost_device_rearm_for_full_90_seconds():
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for stopped, expected in ((Inputs(False, True, True, True, True), "disabled"),
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(Inputs(True, False, True, True, True), "disabled_onroad"),
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(Inputs(True, True, False, True, True), "low_voltage"),
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(Inputs(True, True, True, False, True), "unavailable"),
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(Inputs(True, True, True, True, False), "disabled_ignition")):
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policy = SentryPolicy()
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armed(policy)
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assert policy.update(90.1, active(motion(90.1, 10.0))).state == "armed"
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assert policy.update(90.2, stopped).state == expected
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assert policy.update(90.3, active(motion(90.3, 9.8))).state == "arming"
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assert fresh_through(policy, 90.3, 180.2).state == "arming"
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assert fresh_through(policy, 180.2, 180.4).state == "armed"
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assert policy.trigger_count == 0
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def test_monotonic_reversal_and_motion_window_expiry_fail_closed():
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policy = SentryPolicy(Settings(sensitivity=0.1, warning_time_seconds=0.2))
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armed(policy)
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policy.update(90.1, active(motion(90.1, 10.0)))
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assert policy.update(60.0, active(motion(60.0, 9.8))).state == "unavailable"
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assert policy.update(60.1, active(motion(60.1, 9.8))).state == "arming"
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assert fresh_through(policy, 60.1, 150.0).state == "arming"
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assert fresh_through(policy, 150.0, 150.2).state == "armed"
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assert policy.update(150.3, active(motion(150.3, 10.0))).event is None
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assert fresh_through(policy, 150.3, 210.2, 10.0).event is None
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assert policy.update(210.3, active(motion(210.3, 9.8))).event is None
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assert policy.trigger_count == 1
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def test_two_samples_90_seconds_apart_never_arm():
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policy = SentryPolicy()
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assert policy.update(0.0, active(motion(0.0, 9.8))).state == "arming"
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assert policy.update(90.0, active(motion(90.0, 9.8))).state == "unavailable"
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assert policy.update(90.1, active(motion(90.1, 9.8))).state == "arming"
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assert fresh_through(policy, 90.1, 180.2).state == "armed"
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@pytest.mark.parametrize("settings", [
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{"sensitivity": 0.004}, {"sensitivity": float("nan")},
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{"sensitivity": True}, {"sensitivity": "0.04"},
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{"warning_time_seconds": 10.1}, {"warning_time_seconds": float("inf")},
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{"warning_time_seconds": False},
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])
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def test_settings_reject_invalid_values(settings):
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with pytest.raises(ValueError):
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Settings(**settings)
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@pytest.mark.parametrize("sample", [
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(float("nan"), (0.0, 0.0, 9.8)),
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(1.0, (0.0, float("inf"), 9.8)),
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(1.0, (1e308, 0.0, 9.8)),
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(1.0, (True, 0.0, 9.8)),
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(1.0, (0.0, 9.8)),
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])
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def test_sample_requires_finite_time_and_three_axes(sample):
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with pytest.raises(ValueError):
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MotionSample(*sample)
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def test_authority_inputs_reject_truthy_strings():
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with pytest.raises(ValueError):
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Mock(wraps=Inputs)("off", True, True, True, True)
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