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https://github.com/firestar5683/StarPilot.git
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firestar5683
105 lines
4.9 KiB
Python
105 lines
4.9 KiB
Python
"""Persisted SLC corruption must not silently select a less restrictive default."""
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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.speed_limits.runtime_settings import MPH_TO_MPS, parse, read_params
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class RuntimeSettingsTests(unittest.TestCase):
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def test_fresh_vision_display_default_preserves_explicit_saved_choices(self):
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from openpilot.starpilot.speed_limits.selection import Source
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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settings = read_params(params)
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self.assertTrue(settings.display)
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self.assertFalse(settings.enabled)
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self.assertEqual(settings.selection.slots, (Source.VISION, Source.DASHBOARD))
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self.assertTrue(settings.acceptance.display_only)
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params.put_bool('ShowSpeedLimits', False, block=True)
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params.put('SLCPriority1', 'Dashboard', block=True)
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params.put('SLCPriority2', 'Map Data', block=True)
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saved = read_params(params)
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self.assertFalse(saved.display)
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self.assertFalse(saved.enabled)
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self.assertEqual(saved.selection.slots, (Source.DASHBOARD, Source.MAP))
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self.assertEqual(Path(params.get_param_path('ShowSpeedLimits')).read_bytes(), b'0')
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self.assertEqual(Path(params.get_param_path('SLCPriority1')).read_bytes(), b'Dashboard')
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self.assertEqual(Path(params.get_param_path('SLCPriority2')).read_bytes(), b'Map Data')
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def test_corrupt_saved_values_disable_control_without_rewriting(self):
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cases = {'SLCConfirmation': b'invalid', 'SLCFallback': b'broken',
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'Offset3': b'bad', 'IsMetric': b'2', 'SLCPriority1': b'\xff'}
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for key, raw in cases.items():
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with self.subTest(key=key), tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put_bool('SpeedLimitController', True, block=True)
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path = Path(params.get_param_path(key))
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path.write_bytes(raw)
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settings = read_params(params)
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self.assertFalse(settings.enabled)
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self.assertTrue(settings.errors)
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self.assertEqual(path.read_bytes(), raw)
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self.assertTrue(params.get_bool('SpeedLimitController'))
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def test_absent_optional_values_keep_existing_defaults(self):
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put_bool('SpeedLimitController', True, block=True)
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settings = read_params(params)
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self.assertTrue(settings.enabled)
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self.assertFalse(settings.errors)
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self.assertTrue(settings.acceptance.fallback_previous)
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self.assertEqual(settings.fallback_choice, 2)
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self.assertTrue(all(band.offset_mps == 0 for band in settings.offsets.bands))
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def test_valid_native_values_preserve_explicit_zero_and_units(self):
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put_bool('SpeedLimitController', True, block=True)
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params.put_bool('SLCConfirmation', True, block=True)
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params.put_bool('SLCConfirmationLower', True, block=True)
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params.put('SLCFallback', 0, block=True)
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params.put('Offset3', -5.0, block=True)
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settings = read_params(params)
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self.assertTrue(settings.enabled)
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self.assertFalse(settings.errors)
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self.assertTrue(settings.acceptance.confirm_lower)
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self.assertFalse(settings.acceptance.fallback_previous)
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self.assertEqual(settings.fallback_choice, 0)
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self.assertAlmostEqual(settings.offsets.bands[2].offset_mps, -5 * MPH_TO_MPS)
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def test_fallback_choice_is_a_validated_immutable_drive_snapshot(self):
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put_bool('SpeedLimitController', True, block=True)
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snapshots = []
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for choice in (0, 1, 2):
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params.put('SLCFallback', choice, block=True)
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snapshot = read_params(params)
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self.assertFalse(snapshot.errors)
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self.assertEqual(snapshot.fallback_choice, choice)
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self.assertEqual(snapshot.acceptance.fallback_previous, choice == 2)
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snapshots.append(snapshot)
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self.assertEqual(tuple(snapshot.fallback_choice for snapshot in snapshots), (0, 1, 2))
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path = Path(params.get_param_path('SLCFallback'))
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path.write_bytes(b'not-an-int')
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unavailable = read_params(params)
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self.assertFalse(unavailable.enabled)
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self.assertTrue(unavailable.errors)
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self.assertEqual(path.read_bytes(), b'not-an-int')
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self.assertEqual(tuple(snapshot.fallback_choice for snapshot in snapshots), (0, 1, 2))
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def test_nonfinite_or_unrepresentable_offset_disables_control(self):
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for value in (float('nan'), float('inf'), 10 ** 1000):
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with self.subTest(kind=type(value).__name__):
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settings = parse({'SpeedLimitController': True, 'Offset3': value})
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self.assertFalse(settings.enabled)
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self.assertTrue(settings.errors)
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if __name__ == '__main__':
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unittest.main()
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