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firestar5683
14241d72c8
Select qualified speed-limit sources, preserve acceptance and override decisions, and publish distinct control and display coordinates. Carry accepted and pending source identity with each displayed decision.
85 lines
3.8 KiB
Python
85 lines
3.8 KiB
Python
"""Persisted SLC corruption must not silently select a less restrictive default."""
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from pathlib import Path
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import tempfile
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import unittest
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from openpilot.common.params import Params
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from openpilot.starpilot.speed_limits.runtime_settings import MPH_TO_MPS, parse, read_params
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class RuntimeSettingsTests(unittest.TestCase):
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def test_corrupt_saved_values_disable_control_without_rewriting(self):
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cases = {'SLCConfirmation': b'invalid', 'SLCFallback': b'broken',
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'Offset3': b'bad', 'IsMetric': b'2', 'SLCPriority1': b'\xff'}
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for key, raw in cases.items():
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with self.subTest(key=key), tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put_bool('SpeedLimitController', True, block=True)
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path = Path(params.get_param_path(key))
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path.write_bytes(raw)
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settings = read_params(params)
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self.assertFalse(settings.enabled)
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self.assertTrue(settings.errors)
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self.assertEqual(path.read_bytes(), raw)
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self.assertTrue(params.get_bool('SpeedLimitController'))
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def test_absent_optional_values_keep_existing_defaults(self):
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put_bool('SpeedLimitController', True, block=True)
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settings = read_params(params)
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self.assertTrue(settings.enabled)
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self.assertFalse(settings.errors)
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self.assertTrue(settings.acceptance.fallback_previous)
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self.assertEqual(settings.fallback_choice, 2)
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self.assertTrue(all(band.offset_mps == 0 for band in settings.offsets.bands))
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def test_valid_native_values_preserve_explicit_zero_and_units(self):
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put_bool('SpeedLimitController', True, block=True)
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params.put_bool('SLCConfirmation', True, block=True)
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params.put_bool('SLCConfirmationLower', True, block=True)
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params.put('SLCFallback', 0, block=True)
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params.put('Offset3', -5.0, block=True)
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settings = read_params(params)
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self.assertTrue(settings.enabled)
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self.assertFalse(settings.errors)
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self.assertTrue(settings.acceptance.confirm_lower)
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self.assertFalse(settings.acceptance.fallback_previous)
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self.assertEqual(settings.fallback_choice, 0)
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self.assertAlmostEqual(settings.offsets.bands[2].offset_mps, -5 * MPH_TO_MPS)
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def test_fallback_choice_is_a_validated_immutable_drive_snapshot(self):
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put_bool('SpeedLimitController', True, block=True)
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snapshots = []
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for choice in (0, 1, 2):
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params.put('SLCFallback', choice, block=True)
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snapshot = read_params(params)
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self.assertFalse(snapshot.errors)
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self.assertEqual(snapshot.fallback_choice, choice)
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self.assertEqual(snapshot.acceptance.fallback_previous, choice == 2)
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snapshots.append(snapshot)
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self.assertEqual(tuple(snapshot.fallback_choice for snapshot in snapshots), (0, 1, 2))
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path = Path(params.get_param_path('SLCFallback'))
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path.write_bytes(b'not-an-int')
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unavailable = read_params(params)
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self.assertFalse(unavailable.enabled)
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self.assertTrue(unavailable.errors)
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self.assertEqual(path.read_bytes(), b'not-an-int')
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self.assertEqual(tuple(snapshot.fallback_choice for snapshot in snapshots), (0, 1, 2))
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def test_nonfinite_or_unrepresentable_offset_disables_control(self):
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for value in (float('nan'), float('inf'), 10 ** 1000):
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with self.subTest(kind=type(value).__name__):
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settings = parse({'SpeedLimitController': True, 'Offset3': value})
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self.assertFalse(settings.enabled)
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self.assertTrue(settings.errors)
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if __name__ == '__main__':
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unittest.main()
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