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https://github.com/firestar5683/StarPilot.git
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firestar5683
87 lines
3.9 KiB
Python
87 lines
3.9 KiB
Python
"""Initial integrity epoch zero is valid; ownership/deadlines remain unchanged."""
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import pytest
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from openpilot.starpilot.aol.intent_companion import IntentCompanion
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from openpilot.starpilot.tests import test_ford_reverse_intent as reverse
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from openpilot.starpilot.tests import test_ford_alpha_reverse_intent as alpha_reverse
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from openpilot.starpilot.tests import test_ford_physical_pause_intent as physical
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from openpilot.starpilot.tests import test_ford_typed_gas_intent as gas
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from openpilot.starpilot.tests import test_ford_command_pause as command
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from openpilot.starpilot.tests import ford_alpha_test_support as alpha_support
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from openpilot.starpilot.car.ford.reverse_intent import retain_reverse_intent
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from openpilot.starpilot.car.ford.physical_pause import retain_physical_pause_intent
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from openpilot.starpilot.car.ford.command_pause import retain_command_pause_intent
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from openpilot.starpilot.car.ford.gas_override import retained_gas_lateral_native
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CASES = ['stock-reverse','alpha-reverse','command','typed-gas',*physical.REASONS]
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def initial_epoch_receipts(monkeypatch):
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epoch = IntentCompanion(None).integrity_epoch
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assert epoch == 0
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original = reverse.sample
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def zero(*args, **kwargs):
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peers, native = original(*args, **kwargs)
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reverse.change(peers, 'aolAxisState', lambda axis: setattr(axis, 'intentIntegrityEpoch', epoch))
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return peers, native
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for module in (reverse, physical, alpha_support, command):
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monkeypatch.setattr(module, 'sample', zero)
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return zero
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def setup_case(case, monkeypatch):
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zero = initial_epoch_receipts(monkeypatch)
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now = reverse.NOW + 20_000_000
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if case == 'stock-reverse':
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cp, cs, feedback = reverse.baseline()
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cs.gearShifter = 'reverse'
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peers, _ = zero(cp, reverse.NOW + 10_000_000, now, 2, allowed=False)
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function = retain_reverse_intent
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elif case == 'alpha-reverse':
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cp, cs, feedback, peers, _ = alpha_reverse.setup()
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function = retain_reverse_intent
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elif case == 'command':
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cp, cs, feedback, peers, _ = command.pause()
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now = reverse.NOW + 40_000_000
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function = retain_command_pause_intent
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elif case == 'typed-gas':
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cp, cs, feedback, peers, _ = gas.setup()
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function = retained_gas_lateral_native
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else:
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cp, cs, feedback, peers, _ = physical.setup(case)
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function = retain_physical_pause_intent
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assert feedback.availability_epoch == feedback.signature[15] == peers['aolAxisState'].intentIntegrityEpoch == 0
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return cp, cs, feedback, peers, now, function
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@pytest.mark.parametrize('case', CASES)
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def test_valid_initial_consumer_epoch_preserves_only_qualified_existing_intent(case, monkeypatch):
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cp, cs, feedback, peers, now, function = setup_case(case, monkeypatch)
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before = dict(vars(feedback))
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result = function(feedback, peers, cp, cs, peers['aolAxisState'], now, latched=True, producer=reverse.PRODUCER)
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assert result is not None and result is not False
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assert vars(feedback) == before
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@pytest.mark.parametrize('case', CASES)
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@pytest.mark.parametrize('fault',['no-baseline','different-current','different-previous','producer','expired'])
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def test_initial_zero_cannot_replace_missing_or_changed_owner_or_extend_deadline(case, fault, monkeypatch):
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cp, cs, feedback, peers, now, function = setup_case(case, monkeypatch)
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producer = reverse.PRODUCER
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if fault == 'no-baseline':
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feedback.availability_epoch = None
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elif fault == 'different-current':
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reverse.change(peers, 'aolAxisState', lambda axis: setattr(axis, 'intentIntegrityEpoch', 1))
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elif fault == 'different-previous':
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previous = list(feedback.signature)
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previous[15] = 1
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feedback.signature = tuple(previous)
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elif fault == 'producer':
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producer = 'different-card'
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else:
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now += 200_000_001
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before = dict(vars(feedback))
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result = function(feedback, peers, cp, cs, peers['aolAxisState'], now, latched=True, producer=producer)
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assert result is None or result is False
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assert vars(feedback) == before
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