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firestar5683
e4f3d6661c
Implement acceleration profiles, FollowJerk, force-stop and lead-departure owners. Keep selected acceleration limits and hazard arbitration explicit at their shared boundaries. Co-authored-by: whoisdomi <dcantu83@gmail.com>
36 lines
1.7 KiB
Python
36 lines
1.7 KiB
Python
"""The retired key retains saved bytes without affecting the fixed output ceiling."""
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from pathlib import Path
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import tempfile
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import unittest
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from openpilot.common.params import Params
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from openpilot.starpilot.longitudinal.output_max import KEY, final_output
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from openpilot.starpilot.state_migration import MigrationRequired, prepare_manager_start
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class OutputMaximumNamespaceTests(unittest.TestCase):
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def test_native_key_initialized_retention_and_unqualified_legacy_rejection(self):
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with tempfile.TemporaryDirectory() as temporary:
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root = Path(temporary)
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params = Params(str(root / 'params'))
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recovery = root / 'recovery'
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keys = {key.decode() if isinstance(key, bytes) else key for key in params.all_keys()}
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self.assertIn(KEY, keys)
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prepare_manager_start(params, recovery)
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params.put(KEY, .6, block=True)
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raw = Path(params.get_param_path(KEY)).read_bytes()
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prepare_manager_start(params, recovery, dry_run=True)
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prepare_manager_start(params, recovery)
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self.assertEqual(Path(params.get_param_path(KEY)).read_bytes(), raw)
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self.assertEqual(final_output(5.0), 4.0)
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legacy = Params(str(root / 'legacy'))
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namespace = Path(legacy.get_param_path())
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(namespace / 'AdvancedLongitudinalTune').write_bytes(b'0')
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(namespace / 'MaxDesiredAcceleration').write_bytes(b'0.1')
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before = {path.name: path.read_bytes() for path in namespace.iterdir()}
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with self.assertRaises(MigrationRequired):
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prepare_manager_start(legacy, root / 'legacy-recovery', dry_run=True)
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self.assertEqual({path.name: path.read_bytes() for path in namespace.iterdir()}, before)
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self.assertFalse((namespace / KEY).exists())
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