mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
100 lines
4.3 KiB
Python
100 lines
4.3 KiB
Python
"""Runtime device/PC path selection and inherited native-process environment."""
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import os
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from pathlib import Path
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import subprocess
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import unittest
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from unittest.mock import patch
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from openpilot.common.params_paths import params_path
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ROOT = Path(__file__).resolve().parents[3]
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class TestParamsPaths(unittest.TestCase):
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def test_device_default_is_persistent_without_native_hardware_detection(self):
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with patch.dict(os.environ, {}, clear=True), patch("os.path.isfile", return_value=True):
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self.assertEqual(params_path(), "/data/params")
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def test_actual_python_caller_and_native_reader_share_device_startup_params(self):
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import tempfile
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from openpilot.common import params as native_params
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with tempfile.TemporaryDirectory() as directory:
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device = Path(directory) / "device-params"
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create = native_params.params_create
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requested = []
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def isolated_create(path, size):
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# Observe the real caller's device path; keep all native I/O private.
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self.assertEqual(path, b"/data/params")
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self.assertEqual(size, len(path))
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requested.append(path)
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target = os.fsencode(device)
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return create(target, len(target))
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reader = native_params.Params(str(device))
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reader.put_bool("ControlsReady", True, block=True)
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reader.put_bool("FirmwareQueryDone", True, block=True)
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reader.put("CarParams", b"previous-route", block=True)
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reader.put_bool("AlwaysOnLateral", True, block=True)
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with patch.dict(os.environ, {k: v for k, v in os.environ.items() if k != "PARAMS_ROOT"}, clear=True), patch("os.path.isfile", return_value=True), \
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patch.object(native_params, "params_create", side_effect=isolated_create):
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writer = native_params.Params()
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writer.clear_all(native_params.ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
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self.assertEqual(requested, [b"/data/params"])
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self.assertEqual(writer.get_param_path(), reader.get_param_path())
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self.assertIsNone(reader.get("CarParams"))
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self.assertFalse(reader.get_bool("ControlsReady"))
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self.assertFalse(reader.get_bool("FirmwareQueryDone"))
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self.assertTrue(reader.get_bool("AlwaysOnLateral"))
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writer.put("GitCommit", "current-runtime", block=True)
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self.assertEqual(reader.get("GitCommit"), "current-runtime")
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def test_pc_default_remains_native_default(self):
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with patch.dict(os.environ, {}, clear=True), patch("os.path.isfile", return_value=False):
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self.assertEqual(params_path(), "")
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def test_explicit_path_wins_over_environment_on_device(self):
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with patch.dict(os.environ, {"PARAMS_ROOT": "/isolated/params"}), patch("os.path.isfile", return_value=True):
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self.assertEqual(params_path("/test/params"), "/test/params")
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self.assertEqual(params_path(b"/bytes/params"), b"/bytes/params")
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def test_explicit_environment_is_preserved_for_device_and_pc(self):
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for device in (False, True):
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with self.subTest(device=device), patch.dict(os.environ, {"PARAMS_ROOT": "/isolated/params"}), \
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patch("os.path.isfile", return_value=device):
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self.assertEqual(params_path(), "/isolated/params")
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def launch(self, device, configured, home):
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# Substitute hardware presence only; execute the actual launch_env.sh body.
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script = r"""
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function [ {
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if [[ "$1" == "-f" && "$2" == "/AGNOS" ]]; then return "$DEVICE_STATUS"; fi
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builtin [ "$@"
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}
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source "$1"
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bash -c 'printf "%s" "${PARAMS_ROOT-unset}"'
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"""
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env = dict(os.environ, DEVICE_STATUS="0" if device else "1", HOME=home)
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env.pop("PARAMS_ROOT", None)
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if configured is not None:
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env["PARAMS_ROOT"] = configured
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return subprocess.check_output(["bash", "-c", script, "test", str(ROOT / "launch_env.sh")], env=env, text=True)
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def test_device_reboots_with_new_home_keep_same_inherited_root(self):
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for home in ("/tmp/first-home", "/tmp/rebooted-home"):
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for configured in (None, ""):
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with self.subTest(home=home, configured=configured):
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self.assertEqual(self.launch(True, configured, home), "/data/params")
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def test_launcher_preserves_explicit_root_and_pc_default(self):
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for device in (False, True):
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with self.subTest(device=device):
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self.assertEqual(self.launch(device, "/isolated/params", "/tmp/home"), "/isolated/params")
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self.assertEqual(self.launch(False, None, "/tmp/home"), "unset")
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if __name__ == "__main__":
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unittest.main()
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