mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
b06f37e2c7
Define persistent settings, typed schema fields and storage migrations before feature owners consume them. Keep calibration and parameter readers aligned with the shared data contracts.
129 lines
6.8 KiB
Python
129 lines
6.8 KiB
Python
"""Compatibility regressions the reserved-event policy must catch in CI."""
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import copy
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from pathlib import Path
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from tempfile import TemporaryDirectory
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import unittest
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from tools.ci.schema_policy import read_inputs, validate
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class SchemaPolicyTest(unittest.TestCase):
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def setUp(self):
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self.schemas, self.policy, self.sync = read_inputs()
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def test_current_fork_uses_only_reserved_schema_slots(self):
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self.assertEqual(validate(self.schemas, self.policy, self.sync), [])
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def test_adding_a_car_state_field_is_rejected(self):
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name = 'opendbc_repo/opendbc/car/car.capnp'
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self.schemas[name] = self.schemas[name].replace(b'struct CarState {', b'struct CarState {\n forkValue @62 :Float32;')
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self.assertTrue(any('car.capnp' in error for error in validate(self.schemas, self.policy, self.sync)))
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def test_other_opendbc_schemas_are_pinned(self):
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for name in ('opendbc_repo/opendbc/car/rlog.capnp', 'opendbc_repo/opendbc/car/include/c++.capnp'):
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with self.subTest(name=name):
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schemas = self.schemas.copy()
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schemas[name] += b'\n# unexpected upstream schema edit\n'
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self.assertTrue(any(name in error for error in validate(schemas, self.policy, self.sync)))
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def test_new_schema_under_either_owned_root_requires_policy(self):
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for name in ('openpilot/cereal/new.capnp', 'opendbc_repo/opendbc/car/new.capnp'):
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with self.subTest(name=name):
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schemas = self.schemas.copy()
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schemas[name] = b'@0xdeadbeefdeadbeef;\n'
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self.assertTrue(any(name in error for error in validate(schemas, self.policy, self.sync)))
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def test_input_discovery_includes_new_schema(self):
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with TemporaryDirectory() as directory:
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root = Path(directory)
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for name, data in self.schemas.items():
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path = root / name
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path.parent.mkdir(parents=True, exist_ok=True)
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path.write_bytes(data)
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(root / 'upstream-sync.json').write_text('{"dependencies": []}')
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new_schema = root / 'opendbc_repo/opendbc/car/new.capnp'
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new_schema.write_bytes(b'@0xdeadbeefdeadbeef;\n')
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discovered, _, _ = read_inputs(root)
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self.assertIn('opendbc_repo/opendbc/car/new.capnp', discovered)
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def test_reserved_custom_extension_and_alias_are_allowed(self):
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# This source-policy test permits extension/aliasing; the separate compiled
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# contract protects the existing message's API and field layout.
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original = b'struct AolAxisState @0xfc6241ed8877b611 {'
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self.assertIn(original, self.schemas['openpilot/cereal/custom.capnp'])
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self.assertIn(b'aolAxisState @142 :Custom.AolAxisState;', self.schemas['openpilot/cereal/log.capnp'])
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self.schemas['openpilot/cereal/custom.capnp'] = self.schemas['openpilot/cereal/custom.capnp'].replace(
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original, b'struct FixtureState @0xfc6241ed8877b611 {\n note @12 :Text = "{fixture}";')
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self.schemas['openpilot/cereal/log.capnp'] = self.schemas['openpilot/cereal/log.capnp'].replace(
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b'aolAxisState @142 :Custom.AolAxisState;', b'fixtureState @142 :Custom.FixtureState;')
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self.assertEqual(validate(self.schemas, self.policy, self.sync), [])
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def test_restored_map_event_cannot_be_retargeted(self):
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self.assertFalse({17, 18, 19}.intersection(self.policy['historical_empty_slots']))
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schemas = self.schemas.copy()
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schemas['openpilot/cereal/log.capnp'] = schemas['openpilot/cereal/log.capnp'].replace(
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b'mapdExtendedOut @143 :Custom.MapdExtendedOut;', b'mapdExtendedOut @143 :Custom.MapdIn;')
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self.assertTrue(any('event @143' in error for error in validate(schemas, self.policy, self.sync)))
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def test_aol_raw_slots_remain_data_with_original_ordinals(self):
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for old, new in ((b'aolSafetyWire @124 :Data;', b'aolSafetyWire @124 :Custom.AolAxisState;'),
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(b'aolIntentWire @125 :Data;', b'aolIntentWire @126 :Data;')):
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with self.subTest(old=old):
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schemas = self.schemas.copy()
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self.assertIn(old, schemas['openpilot/cereal/log.capnp'])
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schemas['openpilot/cereal/log.capnp'] = schemas['openpilot/cereal/log.capnp'].replace(old, new)
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self.assertTrue(validate(schemas, self.policy, self.sync))
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def test_historical_slot_rename_and_field_are_rejected(self):
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path = 'openpilot/cereal/custom.capnp'
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reserved_by_name = {slot['struct']: slot for slot in self.policy['reserved']}
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for index in self.policy['historical_empty_slots']:
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name = f'CustomReserved{index}'
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type_id = reserved_by_name[name]['type_id']
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original = f'struct {name} @{type_id} {{'.encode()
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self.assertIn(original, self.schemas[path])
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for replacement in (f'struct DifferentEvent @{type_id} {{'.encode(), original + b'\n newValue @0 :UInt32;'):
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with self.subTest(index=index, replacement=replacement):
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schemas = self.schemas.copy()
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schemas[path] = schemas[path].replace(original, replacement)
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self.assertTrue(any(f'historical slot {index}' in error for error in validate(schemas, self.policy, self.sync)))
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def test_historical_slot_comments_do_not_count_as_fields(self):
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path = 'openpilot/cereal/custom.capnp'
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schemas = self.schemas.copy()
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original = b'struct CustomReserved0 @0x81c2f05a394cf4af {'
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self.assertIn(original, schemas[path])
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schemas[path] = schemas[path].replace(
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original, original + b'\n # Past wire use is reserved.\n')
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self.assertEqual(validate(schemas, self.policy, self.sync), [])
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def test_restored_lateral_field_keeps_original_wire_meaning(self):
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self.assertNotIn(10, self.policy['historical_empty_slots'])
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path = 'openpilot/cereal/custom.capnp'
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original = b'desiredCurvature @0 :Float32;'
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self.assertIn(original, self.schemas[path])
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for changed in (b'desiredCurvature @0 :UInt32;', b'desiredCurvature @2 :Float32;'):
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with self.subTest(changed=changed):
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schemas = self.schemas.copy()
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schemas[path] = schemas[path].replace(original, changed)
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self.assertTrue(any('historical slot 10' in error for error in validate(schemas, self.policy, self.sync)))
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def test_custom_id_reuse_event_retargeting_and_core_edits_are_rejected(self):
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cases = (
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('openpilot/cereal/custom.capnp', b'0xa4f1eb3323f5f582', b'0xc86a3d38d13eb3ef'),
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('openpilot/cereal/log.capnp', b'@145 :Custom.MapdOut', b'@145 :Custom.MapdIn'),
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('openpilot/cereal/log.capnp', b'@145 :Custom.MapdOut', b'@146 :Custom.MapdOut'),
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('openpilot/cereal/log.capnp', b'struct Event {', b'struct Event {\n forkValue @200 :UInt32;'),
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)
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for path, before, after in cases:
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with self.subTest(after=after):
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source = copy.copy(self.schemas)
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self.assertIn(before, source[path])
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source[path] = source[path].replace(before, after)
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self.assertTrue(validate(source, self.policy, self.sync))
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def test_new_upstream_pin_requires_schema_contract_review(self):
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self.sync['upstream']['commit'] = '0' * 40
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self.assertTrue(validate(self.schemas, self.policy, self.sync))
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