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https://github.com/firestar5683/StarPilot.git
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firestar5683
64abcb4094
Wire controller callbacks into the running process and add joined planner and mode-action regression coverage.
53 lines
2.0 KiB
Python
53 lines
2.0 KiB
Python
import unittest
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from dataclasses import replace
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from unittest.mock import patch
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from openpilot.cereal import log
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from opendbc.car import structs
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from openpilot.starpilot import schema_cache
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class MemoryParams:
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def __init__(self):
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self.values = {}
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def get(self, key):
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return self.values.get(key)
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def put(self, key, value, block=False):
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self.values[key] = value
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class TestVehicleCacheContract(unittest.TestCase):
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def test_previous_vehicle_flags_require_fresh_identification(self):
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for key in ('CarParamsCache', 'CarParamsPersistent', 'CarParamsPrevRoute'):
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with self.subTest(key=key):
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params = MemoryParams()
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cp = structs.CarParams(carFingerprint='CHRYSLER_PACIFICA_2020', flags=2)
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current = schema_cache.CONTRACTS[key]
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previous = replace(current, producer='identified-car-params-v1')
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with patch.dict(schema_cache.CONTRACTS, {key: previous}):
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schema_cache.put_cache(params, key, cp, block=True)
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self.assertIsNotNone(schema_cache.get_cache(params, key))
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original = params.values.copy()
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self.assertIsNone(schema_cache.get_cache(params, key))
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self.assertEqual(schema_cache.inspect_cache(key, params.get(key)).status, 'incompatible')
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self.assertEqual(params.values, original)
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schema_cache.put_cache(params, key, cp, block=True)
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self.assertIsNotNone(schema_cache.get_cache(params, key))
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def test_vehicle_epoch_does_not_invalidate_calibration_or_learned_values(self):
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params = MemoryParams()
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params.put('CustomPreference', b'user-choice')
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for key, contract in schema_cache.CONTRACTS.items():
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if contract.service is None:
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continue
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event = log.Event.new_message()
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event.init(contract.service)
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schema_cache.put_cache(params, key, event, block=True)
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original = params.values.copy()
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for key, contract in schema_cache.CONTRACTS.items():
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if contract.service is not None:
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self.assertIsNotNone(schema_cache.get_cache(params, key), key)
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self.assertEqual(params.values, original)
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