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https://github.com/firestar5683/StarPilot.git
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firestarsdog
64 lines
2.9 KiB
Python
64 lines
2.9 KiB
Python
"""Pending choices are source independent; selected-speed commands are not."""
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import math
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import pytest
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from openpilot.cereal import messaging
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from openpilot.selfdrive.car.cruise import SlcPendingConfirmation
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from openpilot.starpilot.speed_limits import physical_actions
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from openpilot.starpilot.speed_limits.selection import Source
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from openpilot.starpilot.speed_limits.tests.test_runtime_replay import ReplaySM
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NOW = 2_000_000_000
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@pytest.fixture
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def sm():
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state = messaging.new_message('slcState').slcState
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state.enabled, state.observationKind, state.source = True, 'valid', 'map'
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state.sessionId, state.frameMonoTime = 'drive', NOW
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state.hasPending, state.pendingSpeedLimit, state.speedLimit = True, 25.0, 25.0
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state.decisionId, state.presentationId = 1, 2
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return ReplaySM({'slcState': state}, NOW)
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@pytest.mark.parametrize('source', tuple(Source))
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def test_confirm_any_source_without_dashboard_evidence(sm, source):
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sm['slcState'].source = source.value
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assert physical_actions.pending_confirmation(sm, NOW, long_active=True) == SlcPendingConfirmation('drive', 1, 2)
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# A pending choice alone must never qualify a selected-speed command.
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current = physical_actions.state_current(sm, None, 'card', NOW)
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assert (current is not None) == (source is not Source.DASHBOARD)
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@pytest.mark.parametrize('field,value', [
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('enabled', False), ('displayOnly', True), ('observationKind', 'unknown'), ('observationKind', 'absent'),
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('observationKind', 'stale'), ('source', 'none'), ('source', ''), ('source', 'unsupported'), ('sessionId', ''),
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('frameMonoTime', 0), ('frameMonoTime', NOW + 1), ('frameMonoTime', NOW - physical_actions.STATE_MAX_AGE_NS - 1),
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('hasPending', False), ('decisionId', 0), ('presentationId', 0), ('pendingSpeedLimit', 0.0),
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('pendingSpeedLimit', math.nan), ('pendingSpeedLimit', math.inf), ('pendingSpeedLimit', 26.0), ('speedLimit', math.nan),
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])
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def test_reject_invalid_or_unavailable_pending_decision(sm, field, value):
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setattr(sm['slcState'], field, value)
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assert physical_actions.pending_confirmation(sm, NOW, long_active=True) is None
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@pytest.mark.parametrize('valid,alive,stamp', [
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(False, True, NOW), (True, False, NOW), (True, True, 0), (True, True, NOW + 1),
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(True, True, NOW - physical_actions.STATE_MAX_AGE_NS - 1),
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])
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def test_reject_invalid_or_stale_transport(sm, valid, alive, stamp):
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sm.valid['slcState'], sm.alive['slcState'], sm.logMonoTime['slcState'] = valid, alive, stamp
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assert physical_actions.pending_confirmation(sm, NOW, long_active=True) is None
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@pytest.mark.parametrize('long_active,after_ns', [(False, 0), (True, NOW)])
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def test_preserve_authority_and_configuration_barriers(sm, long_active, after_ns):
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assert physical_actions.pending_confirmation(sm, NOW, long_active=long_active, after_ns=after_ns) is None
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def test_fresh_post_configuration_decision_qualifies(sm):
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assert physical_actions.pending_confirmation(sm, NOW, long_active=True, after_ns=NOW - 1) is not None
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