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The Final Countdown

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firestar5683
2026-09-08 18:19:19 -05:00
parent 2504441a4e
commit 0976fd804d
42 changed files with 445 additions and 247 deletions
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system/manager/launch_param_migrations.py
+30 -9
View File
@@ -22,7 +22,7 @@ DEVELOPER_METRIC_DISPLAY_KEYS = (
)
DEVICE_SHUTDOWN_KEY = "DeviceShutdown"
CAMERA_VIEW_KEY = "CameraView"
REVERSE_CRUISE_KEY = "ReverseCruise"
GALAXY_NEW_DEFAULT_KEY = "GalaxyMobileDefault"
DEFAULT_STEER_KP = 0.6
LEGACY_STEER_KP = 0.7
@@ -39,7 +39,8 @@ LANE_CHANGE_SMOOTHING_MIGRATION_MARKER = ".starpilot_lane_change_smoothing_defau
SPEED_LIMIT_VISIBILITY_MIGRATION_MARKER = ".starpilot_speed_limit_visibility_v1"
DEVICE_SHUTDOWN_HOURS_MIGRATION_MARKER = ".starpilot_device_shutdown_hours_v1"
CAMERA_VIEW_DEFAULT_MIGRATION_MARKER = ".starpilot_camera_view_default_v1"
REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER = ".starpilot_remove_reverse_cruise_v1"
REVERSE_CRUISE_RESTORE_MIGRATION_MARKER = ".starpilot_restore_reverse_cruise_v1"
GALAXY_NEW_DEFAULT_MIGRATION_MARKER = ".starpilot_galaxy_new_default_v1"
MARKER_DIRNAME = ".starpilot_param_migrations"
LATERAL_METHOD_PARAM_SUFFIXES = (
@@ -147,8 +148,12 @@ def _camera_view_default_marker_path(params: ParamsLike) -> Path:
return _marker_dir_path(params) / CAMERA_VIEW_DEFAULT_MIGRATION_MARKER
def _reverse_cruise_removal_marker_path(params: ParamsLike) -> Path:
return _marker_dir_path(params) / REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER
def _reverse_cruise_restore_marker_path(params: ParamsLike) -> Path:
return _marker_dir_path(params) / REVERSE_CRUISE_RESTORE_MIGRATION_MARKER
def _galaxy_new_default_marker_path(params: ParamsLike) -> Path:
return _marker_dir_path(params) / GALAXY_NEW_DEFAULT_MIGRATION_MARKER
def _marker_dir_path(params: ParamsLike) -> Path:
@@ -332,12 +337,24 @@ def _apply_camera_view_default_migration(params: ParamsLike, marker: Path) -> No
marker.touch()
def _remove_reverse_cruise_param(params: ParamsLike, marker: Path) -> None:
def _restore_reverse_cruise_param(params: ParamsLike, marker: Path) -> None:
if marker.exists():
return
marker.parent.mkdir(parents=True, exist_ok=True)
Path(params.get_param_path(REVERSE_CRUISE_KEY)).unlink(missing_ok=True)
if (not _param_file_exists(params, "ReverseCruise") and
_approx_equal(params.get_float("CustomCruise"), 5.0) and
_approx_equal(params.get_float("CustomCruiseLong"), 1.0)):
params.put_bool("ReverseCruise", True)
marker.touch()
def _enable_galaxy_new_default(params: ParamsLike, marker: Path) -> None:
if marker.exists():
return
marker.parent.mkdir(parents=True, exist_ok=True)
params.put_bool(GALAXY_NEW_DEFAULT_KEY, True)
marker.touch()
@@ -352,7 +369,8 @@ def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None =
speed_limit_visibility_marker_path: Path | None = None,
device_shutdown_hours_marker_path: Path | None = None,
camera_view_default_marker_path: Path | None = None,
reverse_cruise_removal_marker_path: Path | None = None) -> None:
reverse_cruise_restore_marker_path: Path | None = None,
galaxy_new_default_marker_path: Path | None = None) -> None:
_apply_legacy_launch_param_migrations(params, marker_path or _default_marker_path(params))
# Keep branch-default rollout on its own marker so older installs that already
# have the legacy marker still receive this one-time param reset.
@@ -384,8 +402,11 @@ def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None =
_apply_camera_view_default_migration(
params, camera_view_default_marker_path or _camera_view_default_marker_path(params)
)
_remove_reverse_cruise_param(
params, reverse_cruise_removal_marker_path or _reverse_cruise_removal_marker_path(params)
_restore_reverse_cruise_param(
params, reverse_cruise_restore_marker_path or _reverse_cruise_restore_marker_path(params)
)
_enable_galaxy_new_default(
params, galaxy_new_default_marker_path or _galaxy_new_default_marker_path(params)
)
system/manager/manager.py
+1 -1
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@@ -71,7 +71,7 @@ STARPILOT_DEFAULT_MODEL_MIGRATION_FLAG = Path("/data") / "starpilot_default_mode
STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG = Path("/data") / "starpilot_ce_model_stop_time_v2"
STARPILOT_LEGACY_CACHE_MARKER_KEYS = ("RemapCancelToDistance",)
STARPILOT_REMOVED_PARAM_KEYS = (
"CoastUpToLeads", "HumanAcceleration", "HumanFollowing", "PrioritizeSmoothFollowing", "ReverseCruise",
"CoastUpToLeads", "HumanAcceleration", "HumanFollowing", "PrioritizeSmoothFollowing",
)
LEGACY_CARMODEL_MIGRATIONS = {
"CHEVROLET_BOLT_CC_2019_2021": "CHEVROLET_BOLT_CC_2018_2021",
system/manager/test/test_launch_param_migrations.py
+34 -5
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@@ -7,6 +7,7 @@ from openpilot.system.manager.launch_param_migrations import (
DEFAULT_CAMERA_VIEW,
DEVELOPER_METRIC_DISPLAY_KEYS,
DEVELOPER_METRIC_DISPLAY_MIGRATION_MARKER,
GALAXY_NEW_DEFAULT_MIGRATION_MARKER,
DEFAULT_LANE_CHANGE_SMOOTHING,
DEFAULT_STEER_KP,
DEVICE_SHUTDOWN_HOURS_MIGRATION_MARKER,
@@ -14,7 +15,7 @@ from openpilot.system.manager.launch_param_migrations import (
LAUNCH_PARAM_MIGRATION_MARKER,
LATERAL_METHOD_REBRAND_MIGRATION_MARKER,
MARKER_DIRNAME,
REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER,
REVERSE_CRUISE_RESTORE_MIGRATION_MARKER,
STANDARD_ACCELERATION_PROFILE,
SPEED_LIMIT_VISIBILITY_MIGRATION_MARKER,
LEGACY_UI_SELECTION_MIGRATION_MARKER,
@@ -178,14 +179,42 @@ def test_apply_launch_param_migrations_preserves_custom_camera_view(tmp_path):
assert params.get_int("CameraView") == 0
def test_apply_launch_param_migrations_removes_reverse_cruise_param(tmp_path):
def test_apply_launch_param_migrations_restores_reverse_cruise_from_swapped_intervals(tmp_path):
params = FileBackedFakeParams(tmp_path / "params")
params.put_bool("ReverseCruise", True)
params.put_float("CustomCruise", 5.0)
params.put_float("CustomCruiseLong", 1.0)
apply_launch_param_migrations(params)
assert not Path(params.get_param_path("ReverseCruise")).exists()
assert marker_path(tmp_path, REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER).is_file()
assert params.get_bool("ReverseCruise")
assert marker_path(tmp_path, REVERSE_CRUISE_RESTORE_MIGRATION_MARKER).is_file()
def test_apply_launch_param_migrations_preserves_explicit_reverse_cruise_choice(tmp_path):
params = FileBackedFakeParams(tmp_path / "params")
params.put_float("CustomCruise", 5.0)
params.put_float("CustomCruiseLong", 1.0)
params.put_bool("ReverseCruise", False)
apply_launch_param_migrations(params)
assert not params.get_bool("ReverseCruise")
def test_apply_launch_param_migrations_enables_galaxy_new_default_once(tmp_path):
params = FileBackedFakeParams(tmp_path / "params")
params.put_bool("GalaxyMobileDefault", False)
apply_launch_param_migrations(params)
assert params.get_bool("GalaxyMobileDefault")
marker = marker_path(tmp_path, GALAXY_NEW_DEFAULT_MIGRATION_MARKER)
assert marker.is_file()
params.put_bool("GalaxyMobileDefault", False)
apply_launch_param_migrations(params)
assert not params.get_bool("GalaxyMobileDefault")
def test_apply_launch_param_migrations_applies_branch_defaults_for_existing_installs(tmp_path):
system/manager/test/test_manager.py
+1 -3
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@@ -397,7 +397,6 @@ class TestManager:
params_cache = FileBackedFakeParams(tmp_path / "cache", {
"HumanFollowing": False,
"PrioritizeSmoothFollowing": True,
"ReverseCruise": True,
})
manager.cleanup_removed_starpilot_params(params, params_cache)
@@ -405,10 +404,9 @@ class TestManager:
assert not Path(params.get_param_path("CoastUpToLeads")).exists()
assert not Path(params.get_param_path("HumanAcceleration")).exists()
assert not Path(params.get_param_path("HumanFollowing")).exists()
assert not Path(params.get_param_path("ReverseCruise")).exists()
assert params.get_bool("ReverseCruise")
assert not Path(params_cache.get_param_path("HumanFollowing")).exists()
assert not Path(params_cache.get_param_path("PrioritizeSmoothFollowing")).exists()
assert not Path(params_cache.get_param_path("ReverseCruise")).exists()
def test_migrate_legacy_starpilot_params_cache_copies_marker_sources(self, tmp_path, monkeypatch):
monkeypatch.setattr(manager, "STARPILOT_PARAMS_CACHE_MIGRATION_FLAG", tmp_path / "starpilot_params_cache_v1")