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https://github.com/firestar5683/StarPilot.git
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firestar5683
67 lines
3.2 KiB
Python
67 lines
3.2 KiB
Python
"""Transport-only fixtures; numerical/native admission stays in the worker."""
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from copy import deepcopy
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import hashlib
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import json
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from unittest import TestCase
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from openpilot.starpilot.flm.controller_replay import pack_primitive_snapshot
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from openpilot.starpilot.flm.live_tracking_probe import _primitive
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from openpilot.starpilot.flm.live_tracking_probe_process import (
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VERSION, _prepared_context, decode_probe_job, prepare_probe_payloads, prepare_probe_wire,
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)
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def payloads():
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rows = []
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for offset in range(4):
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stamp = 10_000_000_000 + offset * 10_000_000
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control = {'control_ns': stamp, 'stage_schema_revision': 'transport-only', 'replay_snapshot': (('x', 0.),)}
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rows.append({'version': VERSION, 'replay': b'transport-only', 'prefix_controls': (control,),
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'control': control, 'output': {'apply_ns': stamp + 1}, 'binding': {'identity': 'transport-only'},
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'accepted_full30': (), 'anchor': (1., 1., 1.), 'group': 'all30', 'names': ('transport-only',),
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'archived_clock': False, 'source': {'enabled': False}, 'evidence_ns': 11_000_000_000,
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'queued_ns': 11_000_000_000})
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return tuple(rows)
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def legacy(rows):
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jobs = []
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for row in rows:
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packed = pack_primitive_snapshot(row)
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jobs.append({'version': VERSION, 'payload': packed.hex(), 'sha256': hashlib.sha256(packed).hexdigest()})
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return jobs
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class ProbeBatchPreparationTest(TestCase):
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def test_direct_preparation_preserves_every_decoded_field_and_context(self):
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rows = payloads()
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context = _prepared_context({'batch': rows})
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old = prepare_probe_wire(legacy(rows), queued_ns=11_000_000_000, expected=context)
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new = prepare_probe_payloads(rows, queued_ns=11_000_000_000, expected=context)
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def decoded(result):
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wire = json.loads(result['wire'])
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del wire['preparedContextSha256']
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return _primitive(decode_probe_job(wire))
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self.assertEqual(decoded(old), decoded(new))
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self.assertEqual(old['context_sha256'], new['context_sha256'])
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def test_direct_preparation_keeps_original_order_and_two_second_input_bound(self):
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rows = payloads()
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context = _prepared_context({'batch': rows})
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for changed, clock in (((), 11_000_000_000), (rows + rows[:1], 11_000_000_000),
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(tuple(reversed(rows)), 11_000_000_000), (rows, 13_000_000_001)):
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with self.subTest(clock=clock, count=len(changed)), self.assertRaises(ValueError):
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prepare_probe_payloads(changed, queued_ns=clock, expected=context)
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def test_direct_preparation_rejects_changed_or_nonprimitive_inputs(self):
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rows = payloads()
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context = _prepared_context({'batch': rows})
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for field, value in (('version', 'unknown'), ('replay', b''), ('prefix_controls', ()),
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('anchor', (float('nan'),)), ('queued_ns', 0), ('source', {'callback': object()})):
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changed = deepcopy(rows)
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changed[0][field] = value
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with self.subTest(field=field), self.assertRaises((TypeError, ValueError)):
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prepare_probe_payloads(changed, queued_ns=11_000_000_000, expected=context)
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with self.assertRaises(ValueError):
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prepare_probe_payloads(rows, queued_ns=11_000_000_000, expected={'batch': ()})
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