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https://github.com/firestar5683/StarPilot.git
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firestar5683
73 lines
3.8 KiB
Python
73 lines
3.8 KiB
Python
"""Wire receipt regression: scene readiness must not become generic unavailability."""
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from typing import Any
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from unittest.mock import Mock
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from dataclasses import replace
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import unittest
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from openpilot.cereal import log, messaging
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from openpilot.starpilot.conditional_mode.host import HostProposal
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from openpilot.starpilot.conditional_mode.projection import ProjectedScene
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from openpilot.starpilot.conditional_mode.policy import Authority, Decision, ModeChoice, Reason
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from openpilot.starpilot.conditional_mode.runtime_settings import SettingsSnapshot, DocumentState, SafeModeState
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from openpilot.starpilot.conditional_mode.status import StatusPublisher
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from openpilot.starpilot.ui.conditional_status import ConditionalPerceptionProjector
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from openpilot.starpilot.ui.onroad_conditional import status, stop_active
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from openpilot.starpilot.ui.onroad_state import OnroadState, SpeedLimitObservation
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def changed_arguments(arguments: dict[str, Any], changes: dict[str, Any]) -> dict[str, Any]:
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return arguments | changes
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def check_fresh_validated_receipt_preserves_unavailable_reason(choice, policy_reason, detail):
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now = 100_000_000_000
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drive_id = now - 1_000_000_000
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authority = Authority(True, True, False, False, False, True)
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decision = Decision(True, False, True, True, policy_reason, 0)
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settings = SettingsSnapshot('test', 1, now, now, DocumentState.ABSENT, SafeModeState.ABSENT_FALSE, None, None, None)
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# Controlled wire reasons isolate presentation; this is not policy/control admission.
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proposal = HostProposal(choice, Mock(spec=ProjectedScene, authority=authority), decision, None, 'inactive_axis', settings.revision)
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event = messaging.new_message('slcState')
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event.valid = True
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event.logMonoTime = now
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StatusPublisher().attach(event, proposal, settings, now_ns=now, drive_id=drive_id,
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model_ns=now, car_state_ns=now)
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args: dict[str, Any] = {'now_ns': now + 20_000_000, 'event_ns': now, 'drive_id': drive_id, 'choice': choice,
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'lateral_active': True, 'selfdrive_enabled': False, 'car_valid': True, 'system_long': True}
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with log.Event.from_bytes(event.to_bytes()) as received:
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projector = ConditionalPerceptionProjector()
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value = projector.project(received.slcState, **args)
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assert value is not None and value.reason == policy_reason.value
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assert not value.effective_experimental
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assert not received.slcState.conditionalMode.hasOverride
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ui = OnroadState(False, True, 0.0, 0.0, SpeedLimitObservation(), conditional_perception=value)
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display = status(ui)
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assert display is not None
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assert display[:2] == (choice.name, detail)
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assert not stop_active(ui)
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for changed in ({'now_ns': now + 200_000_001}, {'drive_id': drive_id + 1}, {'car_valid': False},
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{'system_long': False}, {'lateral_active': False}, {'choice': ModeChoice.STOCK}):
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rejected = ConditionalPerceptionProjector().project(received.slcState, **changed_arguments(args, changed))
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assert rejected is None
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ui = replace(ui, conditional_perception=rejected)
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assert status(ui) is None and not stop_active(ui)
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class TestConditionalReasonSemantics(unittest.TestCase):
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def test_cem_scene_waits_for_road_data(self):
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check_fresh_validated_receipt_preserves_unavailable_reason(ModeChoice.CEM, Reason.SCENE_UNAVAILABLE, 'WAITING FOR ROAD DATA')
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def test_cem_unavailable_remains_visible(self):
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check_fresh_validated_receipt_preserves_unavailable_reason(ModeChoice.CEM, Reason.UNAVAILABLE, 'UNAVAILABLE')
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def test_ccm_scene_waits_for_road_data(self):
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check_fresh_validated_receipt_preserves_unavailable_reason(ModeChoice.CCM, Reason.SCENE_UNAVAILABLE, 'WAITING FOR ROAD DATA')
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def test_ccm_unavailable_remains_visible(self):
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check_fresh_validated_receipt_preserves_unavailable_reason(ModeChoice.CCM, Reason.UNAVAILABLE, 'UNAVAILABLE')
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if __name__ == '__main__':
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unittest.main()
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