mirror of
https://github.com/firestar5683/StarPilot.git
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firestarsdog
6a469e232b
Consolidates source, test, documentation, and UI asset changes authored by firestarsdog: -5f3ea81785SLC Squish -e54b3f9e36Normalize stopped speeds to preserve SLC overrides -fc981552b3Clarify SLC targets and confirmation prompts -891454e47cAlign speed HUD for clearer SLC prompts -4e4d258ad3Visual Polish + Suppress "LAST" in UI -5b896476d6rm historic adopted speed on engage Generated device build outputs are recorded separately after the source commits.
91 lines
4.6 KiB
Python
91 lines
4.6 KiB
Python
"""Regression checks for qualified values, saved geometry and request feedback."""
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from dataclasses import replace
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from unittest.mock import Mock
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from openpilot.starpilot.ui.onroad_state import ObservationKind, OnroadInput, OnroadState, SlcActionKind, SlcUiRequest, SpeedLimitObservation
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from openpilot.starpilot.ui.onroad_customization import default_document, validate_document, rgba
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from openpilot.starpilot.ui.slc_action_dispatch import SlcActionDispatcher
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from openpilot.starpilot.ui.tests.test_slc_ui_actions import native_state, NOW
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from openpilot.starpilot.speed_limits.speed_domain import adjusted_limit, OffsetBand, OffsetSchedule
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from openpilot.starpilot.speed_limits.runtime import Runtime
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from openpilot.starpilot.speed_limits.runtime_settings import parse
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from openpilot.starpilot.ui.tests.test_slc_ui_runtime import START, replay_inputs, publish_request
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def road(document=None):
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obs = SpeedLimitObservation(ObservationKind.VALID, 'dashboard', 20, accepted_speed_limit_mps=20,
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accepted_adjusted_limit_mps=22, session_id='drive-session', presentation_id=9,
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decision_id=7, action_enabled=True)
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return OnroadState(True, False, 20, 100, obs, longitudinal_active=True, slc_system_long_available=True,
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customization=document or default_document())
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def test_offset_proposals_use_their_own_band_and_reject_invalid_values():
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schedule = OffsetSchedule((OffsetBand(0, 20, 1), OffsetBand(20, None, 3)))
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assert adjusted_limit(19, schedule) == 20
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assert adjusted_limit(20, schedule) == 23
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assert adjusted_limit(float('nan'), schedule) is None
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assert adjusted_limit(10, OffsetSchedule((OffsetBand(0, None, -20),))) == 10
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def test_numeric_card_and_sources_row_are_not_tap_targets_while_pending():
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state = road()
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state = replace(state, speed_limit=replace(state.speed_limit, pending_speed_limit_mps=25))
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emitted = []
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touch = OnroadInput(emitted.append)
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touch.press(120, 320, state)
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touch.release(120, 320, state)
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assert not emitted
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# Where the removed "View sources" row used to sit; sources now follow the Galaxy setting only.
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touch.press(100, 709, state)
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assert not touch.claimed
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touch.release(100, 709, state)
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assert not emitted
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def test_v4_migration_preserves_settings_and_clamps_only_enlarged_widgets():
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doc = default_document()
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doc['version'] = 4
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doc['palette']['cardFill'] = '#12345678'
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doc['speedSources'] = True
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doc['layouts']['large']['cruise_limits'].update(x=1654, y=75)
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doc['layouts']['large']['speed_limit_actions'].update(x=1654, y=500)
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old_speed = dict(doc['layouts']['large']['current_speed'])
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migrated = validate_document(doc)
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assert migrated['version'] == 14
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assert migrated['layouts']['large']['cruise_limits']['x'] == 1437
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assert migrated['layouts']['large']['speed_limit_actions'] == {'x': 1678, 'y': 267, 'enabled': True}
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assert migrated['layouts']['large']['current_speed'] == old_speed
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assert migrated['speedSources'] is True
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assert rgba(migrated, 'cardFill', 'large', 'cruise_limits') == (18, 52, 86, 120)
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assert validate_document(migrated) == migrated
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def test_feedback_requires_matching_receipts():
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now = [NOW]
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dispatcher = SlcActionDispatcher(Mock(), lambda _: native_state(), lambda: now[0])
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assert dispatcher.dispatch(SlcUiRequest(SlcActionKind.ACCEPT, 'drive-session', 7, 9, 22))
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obs = road().speed_limit
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assert dispatcher.feedback(obs) == 'Waiting…'
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obs = replace(obs, action_sequence_id=NOW, action_status='accept')
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assert dispatcher.feedback(obs) == 'Limit accepted'
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assert dispatcher.feedback(replace(obs, session_id='next-drive')) == ''
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def test_publisher_receipt_survives_next_cycle_and_resets_with_session():
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sm, cp = replay_inputs()
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runtime = Runtime(parse({'SpeedLimitController': True, 'SLCPriority1': 'Dashboard', 'SLCConfirmation': 1}), session_id='drive')
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pending = runtime.step(sm, cp, now_ns=START).message.slcState
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request = SlcUiRequest(SlcActionKind.ACCEPT, 'drive', pending.decisionId, pending.presentationId, pending.pendingSpeedLimit)
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action = publish_request(pending, request, START)
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sm.advance(START + 50_000_000)
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accepted = runtime.step(sm, cp, now_ns=START + 50_000_000, request=action).message.slcState
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sm.advance(START + 100_000_000)
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next_frame = runtime.step(sm, cp, now_ns=START + 100_000_000).message.slcState
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assert accepted.actionSequenceId == next_frame.actionSequenceId == action.sequence_id
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assert accepted.actionStatus == next_frame.actionStatus == 'accept'
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assert accepted.commandActionSequenceId == next_frame.commandActionSequenceId == 0
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runtime.reset()
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assert runtime._ui_receipt is None
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