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https://github.com/firestar5683/StarPilot.git
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firestar5683
db1c5a7445
Release inherited Params locks correctly across fork and exec. Preserve qualified lateral armed intent through temporary faults, restore the Big UI CEM gauge, improve speed typography, and hide unavailable CEM initialization text. Include matching device artifacts and focused regression coverage.
72 lines
3.7 KiB
Python
72 lines
3.7 KiB
Python
"""Keep readiness receipts intact while missing road data stays visually neutral."""
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from typing import Any
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from unittest.mock import Mock
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from dataclasses import replace
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import unittest
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from openpilot.cereal import log, messaging
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from openpilot.starpilot.conditional_mode.host import HostProposal
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from openpilot.starpilot.conditional_mode.projection import ProjectedScene
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from openpilot.starpilot.conditional_mode.policy import Authority, Decision, ModeChoice, Reason
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from openpilot.starpilot.conditional_mode.runtime_settings import SettingsSnapshot, DocumentState, SafeModeState
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from openpilot.starpilot.conditional_mode.status import StatusPublisher
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from openpilot.starpilot.ui.conditional_status import ConditionalPerceptionProjector
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from openpilot.starpilot.ui.onroad_conditional import status, stop_active
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from openpilot.starpilot.ui.onroad_state import OnroadState, SpeedLimitObservation
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def changed_arguments(arguments: dict[str, Any], changes: dict[str, Any]) -> dict[str, Any]:
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return arguments | changes
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def check_fresh_validated_receipt_preserves_unavailable_reason(choice, policy_reason):
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now = 100_000_000_000
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drive_id = now - 1_000_000_000
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authority = Authority(True, True, False, False, False, True)
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decision = Decision(True, False, True, True, policy_reason, 0)
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settings = SettingsSnapshot('test', 1, now, now, DocumentState.ABSENT, SafeModeState.ABSENT_FALSE, None, None, None)
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# Controlled wire reasons isolate presentation; this is not policy/control admission.
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proposal = HostProposal(choice, Mock(spec=ProjectedScene, authority=authority), decision, None, 'inactive_axis', settings.revision)
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event = messaging.new_message('slcState')
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event.valid = True
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event.logMonoTime = now
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StatusPublisher().attach(event, proposal, settings, now_ns=now, drive_id=drive_id,
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model_ns=now, car_state_ns=now)
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args: dict[str, Any] = {'now_ns': now + 20_000_000, 'event_ns': now, 'drive_id': drive_id, 'choice': choice,
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'lateral_active': True, 'selfdrive_enabled': False, 'car_valid': True, 'system_long': True}
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with log.Event.from_bytes(event.to_bytes()) as received:
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projector = ConditionalPerceptionProjector()
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value = projector.project(received.slcState, **args)
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assert value is not None and value.reason == policy_reason.value
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assert not value.effective_experimental
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assert not received.slcState.conditionalMode.hasOverride
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ui = OnroadState(False, True, 0.0, 0.0, SpeedLimitObservation(), conditional_perception=value)
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display = status(ui)
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assert display is None
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assert not stop_active(ui)
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for changed in ({'now_ns': now + 200_000_001}, {'drive_id': drive_id + 1}, {'car_valid': False},
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{'system_long': False}, {'lateral_active': False}, {'choice': ModeChoice.STOCK}):
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rejected = ConditionalPerceptionProjector().project(received.slcState, **changed_arguments(args, changed))
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assert rejected is None
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ui = replace(ui, conditional_perception=rejected)
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assert status(ui) is None and not stop_active(ui)
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class TestConditionalReasonSemantics(unittest.TestCase):
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def test_cem_missing_scene_is_neutral(self):
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check_fresh_validated_receipt_preserves_unavailable_reason(ModeChoice.CEM, Reason.SCENE_UNAVAILABLE)
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def test_cem_unavailable_is_neutral(self):
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check_fresh_validated_receipt_preserves_unavailable_reason(ModeChoice.CEM, Reason.UNAVAILABLE)
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def test_ccm_missing_scene_is_neutral(self):
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check_fresh_validated_receipt_preserves_unavailable_reason(ModeChoice.CCM, Reason.SCENE_UNAVAILABLE)
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def test_ccm_unavailable_is_neutral(self):
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check_fresh_validated_receipt_preserves_unavailable_reason(ModeChoice.CCM, Reason.UNAVAILABLE)
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if __name__ == '__main__':
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unittest.main()
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