mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
Prabhaav Pillai
c532223fa0
Bundle the verified VASM model, enable it at startup, and split VASM and vision speed-sign inference across little cores when both are active. Restore VASM warnings in PiP activation, red outlines, and onroad blind-spot borders, including expanded Android Auto views. Improve cabin snapshots with longer warm-up, adjusted capture timeouts, a fresh preview frame, and clearer capture buttons and save prompts. Polish Galaxy settings with dimmed gated controls and icons, clearer vehicle fingerprinting and steering availability descriptions, rounded speed-offset ranges, and immediate refresh after saving. Improve updater startup messages and preserve update/reconnect screens across service interruptions and restarts. Add regression tests for the updated behavior.
87 lines
3.4 KiB
Python
87 lines
3.4 KiB
Python
"""Strict saved V-ASM owner; malformed bytes never activate or get rewritten."""
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import json
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from pathlib import Path
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import pytest
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from openpilot.common.params import Params
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from openpilot.starpilot.spot_monitor.policy import decode_annotation
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from openpilot.starpilot.spot_monitor.preferences import Preferences, decode, encode, enabled, read_preferences
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ANNOTATION = {"version": 1, "width": 352, "height": 352,
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"poly_left": [[0, 0], [352, 0], [352, 352], [0, 352]], "poly_right": []}
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class FakeParams:
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def __init__(self, path):
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self.path = path
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def get_param_path(self, key):
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return str(self.path)
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def test_absent_disabled_and_valid_exact_document(tmp_path):
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path = tmp_path / "VASMPreferences"
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params = FakeParams(path)
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assert read_preferences(params).valid
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assert not enabled(params, development=True)
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annotation = decode_annotation(json.dumps(ANNOTATION))
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raw = encode(Preferences(True, annotation, 0.9, 0.3))
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path.write_bytes(raw)
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saved = read_preferences(params)
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assert saved.readable and saved.valid and saved.preferences.enabled
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assert len(saved.fingerprint) == 64
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assert decode(raw) == saved.preferences
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assert enabled(params, development=True)
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assert not enabled(params, development=False)
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def test_explicit_disabled_unconfigured_reset_roundtrip_and_enable_refusal():
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raw = encode(Preferences())
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assert json.loads(raw) == {"annotation": None, "confidence": 0.94, "enabled": False,
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"smoothSeconds": 0.2, "version": 1}
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assert decode(raw) == Preferences()
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assert decode(raw.replace(b'"enabled":false', b'"enabled":true')) is None
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with pytest.raises(ValueError):
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encode(Preferences(enabled=True))
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def test_corrupt_unreadable_and_wrong_types_preserved_disabled(tmp_path):
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base = json.loads(encode(Preferences(True, decode_annotation(json.dumps(ANNOTATION)))))
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for changed in ({"version": True}, {"enabled": 1}, {"confidence": 0.79}, {"smoothSeconds": 0.51},
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{"annotation": {**ANNOTATION, "version": 2}}, {"unexpected": 1}):
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raw = json.dumps({**base, **changed}).encode()
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path = tmp_path / "VASMPreferences"
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path.write_bytes(raw)
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params = FakeParams(path)
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assert not read_preferences(params).valid
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assert not enabled(params, development=True)
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assert path.read_bytes() == raw
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path.unlink()
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path.symlink_to(tmp_path / "missing")
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assert not read_preferences(FakeParams(path)).readable
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assert not enabled(FakeParams(path), development=True)
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assert decode(b'{"version":1,"version":1}') is None
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assert decode(b"{" + b" " * 8192) is None
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def test_manager_predicate_requires_saved_doc_and_model(tmp_path, monkeypatch):
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from openpilot.system.manager.process_config import vasm_monitor
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params = Params(str(tmp_path / "params"))
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path = Path(params.get_param_path("VASMPreferences"))
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path.write_bytes(encode(Preferences(True, decode_annotation(json.dumps(ANNOTATION)))))
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monkeypatch.setenv("STARPILOT_VASM_MODEL_PATH", "")
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assert not vasm_monitor(True, params, None)
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monkeypatch.setenv("STARPILOT_VASM_MODEL_PATH", "relative/model.onnx")
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assert not vasm_monitor(True, params, None)
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model = tmp_path / "model.onnx"
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model.write_bytes(b"model")
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monkeypatch.setenv("STARPILOT_VASM_MODEL_PATH", str(model))
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assert vasm_monitor(True, params, None)
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assert not vasm_monitor(False, params, None)
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path.write_bytes(b"bad")
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assert not vasm_monitor(True, params, None)
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