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https://github.com/firestar5683/StarPilot.git
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firestar5683
6103e0395b
The d5 Ioniq 6 logs repeatedly reset source tracking when Card repeats a command that already arrived on time. Discard only a recent unchanged repeat after the existing native CAN verifier succeeds; add no sample, application time or permission. Use independently admitted pending CarState brackets to complete original poses without waiting for that command to reach Card. Classify stale control source clocks as transient stale evidence, preserving the original bounded study deadline. Replace Python character loops with equivalent strict text predicates. Validation: focused regression suite and paced d5 replay with original Card command references; actual controller/CAN trial application and worsening-trial rollback. No timing/acceptance threshold changes or claimed road improvement.
95 lines
4.9 KiB
Python
95 lines
4.9 KiB
Python
"""Timing rejection and inert study recovery; numerical fixtures, no road proof."""
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from dataclasses import replace
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from types import SimpleNamespace
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import pytest
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from openpilot.starpilot.flm.fullrate_collector import FullrateCollector
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from openpilot.starpilot.flm.tests.test_fullrate_pipeline import SyntheticAdapter, snapshots
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from openpilot.starpilot.flm.tests.test_source_study_gaps import active_study
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from openpilot.starpilot.flm.tests.test_tracking_source_context import refresh, source_ack
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def subject(age=43_305_053, *, pause=True):
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owner, now = active_study()
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if pause:
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owner.interrupt('expired_response_witness')
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control, _, _ = snapshots(now)
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control = replace(control, domain='normalized_torque', state_ns=now-age, native_required=True,
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native_allowed=True, native_identity='4'*64, native_observed_ns=now-50_000_000,
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native_expires_ns=now+150_000_000)
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collector = FullrateCollector(SyntheticAdapter())
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collector.adapter.command_domain = 'normalized_torque'
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collector.context = tuple(getattr(control, name) for name in (
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'identity', 'generation', 'domain', 'stage_revision', 'response_revision', 'source_epoch',
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'controller_mode', 'policy', 'baseline_revision', 'controller_revision', 'turn_assist'))
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collector.live_tracking = SimpleNamespace(interrupt=owner.interrupt)
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return collector, owner, control, now+37_720_875
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@pytest.mark.parametrize('age', (30_000_001, 43_305_053))
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@pytest.mark.parametrize('pause', (False, True))
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def test_normalized_source_clock_gap_rejects_row_without_erasing_numerical_study(age, pause):
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collector, owner, control, now = subject(age, pause=pause)
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original = (owner.paused_intent[0] if pause else owner.offer_state).copy()
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before, future = owner.paused_intent[1:] if pause else (owner.before, tuple(owner.future))
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assert not collector.control(control, now)
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assert collector.reason == 'stale_control'
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assert not collector.controls and not collector.ready and not collector.recent_controls
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assert collector.last_qualified_response == collector.last_apply == 0
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assert owner.offer_state['phase'] == 'rollback' and owner.settled_ns is None
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assert owner.paused_intent is not None
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assert owner.paused_intent[1:] == (before, future)
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assert not owner.before and not owner.future and not any(owner.accepted.values())
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refresh(owner, now+200_000_000)
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rollback = owner.offer(now+200_000_000)
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assert rollback is not None and rollback.phase == 'rollback'
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assert source_ack(owner, rollback, now+210_000_000)
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resumed = owner.offer_state
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assert resumed['phase'] == 'trial' and resumed['trial_id'] != original['trial_id']
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assert resumed['target_sequence'] > original['target_sequence'] and resumed['published'] is False
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for name in ('started_ns', 'deadline_ns', 'alpha', 'required_episodes', 'look_quotas', 'target', 'baseline'):
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assert resumed[name] == original[name]
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assert (owner.before, tuple(owner.future)) == (before, future) and owner.settled_ns is None
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@pytest.mark.parametrize('change,reason', (
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({'identity': 'bad'}, 'invalid_control'),
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({'requested': float('nan')}, 'invalid_control'),
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({'valid': False}, 'ineligible_control'),
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({'fault': True}, 'ineligible_control'),
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({'override': True}, 'ineligible_control'),
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({'manual': True}, 'ineligible_control'),
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({'active': False}, 'ineligible_control'),
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({'saturated': True}, 'ineligible_control'),
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({'native_allowed': False}, 'original_native_admission_unavailable'),
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({'native_expires_ns': 1}, 'original_native_admission_unavailable'),
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({'source_receipt_ns': 1}, 'invalid_control'),
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({'domain': 'torque'}, 'invalid_control'),
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))
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def test_clock_gap_never_masks_fault_native_structural_or_other_domain_failure(change, reason):
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collector, owner, control, now = subject()
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assert owner.paused_intent is not None
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assert not collector.control(replace(control, **change), now)
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assert collector.reason == reason and owner.paused_intent is None
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assert not collector.ready and not collector.controls and not any(owner.accepted.values())
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@pytest.mark.parametrize('change', ({'identity': '5'*64}, {'source_epoch': '6'*64}, {'baseline_revision': '7'*64}))
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def test_clock_gap_with_changed_context_cannot_preserve_old_study(change):
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collector, owner, control, now = subject()
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assert not collector.control(replace(control, **change), now)
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assert collector.training_interruptions['actual_controller_identity_changed'] == 1
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assert owner.paused_intent is None and not collector.ready
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def test_original_deadline_still_expires_after_source_clock_gap():
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collector, owner, control, now = subject()
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deadline = owner.paused_intent[0]['deadline_ns']
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assert not collector.control(control, now)
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refresh(owner, deadline+1)
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rollback = owner.offer(deadline+1)
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assert rollback is not None and source_ack(owner, rollback, deadline+10_000_001)
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assert owner.paused_intent is None and owner.offer_state['phase'] == 'rollback'
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assert owner.offer_state['accepted'] and not any(owner.accepted.values())
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