revert volt long tune

opendbc_repo/opendbc/car/gm/interface.py

@@ -24,6 +24,7 @@ from opendbc.car.gm.values import (
 from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params, UnknownKeyName
+from openpilot.starpilot.common.testing_grounds import testing_ground
 
 TransmissionType = structs.CarParams.TransmissionType
 NetworkLocation = structs.CarParams.NetworkLocation
@@ -76,7 +77,7 @@ VOLT_LIKE_CARS = {
   CAR.CHEVROLET_MALIBU_HYBRID_CC,
 }
 
-VOLT_LONG_TUNE_CARS = {
+VOLT_LONG_TEST_TUNE_CARS = {
   CAR.CHEVROLET_VOLT,
   CAR.CHEVROLET_VOLT_2019,
   CAR.CHEVROLET_VOLT_ASCM,
@@ -565,14 +566,15 @@ class CarInterface(CarInterfaceBase):
       ret.pcmCruise = False
       ret.openpilotLongitudinalControl = not disable_openpilot_long
 
-    volt_long_tune_active = (
+    volt_test_tune_active = (
+      testing_ground.use_2 and
       ret.openpilotLongitudinalControl and
-      candidate in VOLT_LONG_TUNE_CARS
+      candidate in VOLT_LONG_TEST_TUNE_CARS
     )
-    if volt_long_tune_active:
+    if volt_test_tune_active:
       # Volt long can still fall back to an all-I tune on both the interceptor and
-      # ASCM-int paths. Use the promoted tune by default: add a modest P term,
-      # trim mid/high-speed I memory, and keep a dedicated starting state so
+      # ASCM-int paths. The test-ground tune adds a modest P term, trims
+      # mid/high-speed I memory, and uses a dedicated starting state so
       # stop-and-go launches do not wind up the PID.
       ret.longitudinalTuning.kpBP = [0.0, 4.0, 12.0, 35.0]
       ret.longitudinalTuning.kpV = [0.10, 0.072, 0.050, 0.040]

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -4,6 +4,7 @@ from parameterized import parameterized
 
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm.carcontroller import should_spoof_dash_speed
+import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.fingerprints import FINGERPRINTS
 from opendbc.car.gm.values import CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, GM_RX_OFFSET
@@ -60,13 +61,15 @@ class TestGMInterface:
     ("interceptor", True),
     ("ascm_int", False),
   ])
-  def test_volt_default_long_tune_sets_nonzero_p_and_starting_state(self, _name, pedal_present):
+  def test_volt_testing_ground_tune_sets_nonzero_p_and_starting_state(self, _name, pedal_present, monkeypatch):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
     fingerprint = _empty_fingerprint()
     if pedal_present:
       fingerprint[0][0x201] = 8  # pedal detected
     fingerprint[0][0x2FF] = 8  # SASCM detected
 
+    monkeypatch.setattr(gm_interface.testing_ground, "use_2", True, raising=False)
+
     car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False, is_release=False, docs=False,
                                          starpilot_toggles=_test_starpilot_toggles())
 

selfdrive/controls/lib/longcontrol.py

@@ -6,6 +6,7 @@ from openpilot.common.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.common.filter_simple import FirstOrderFilter
 from opendbc.car.gm.values import CarControllerParams, GMFlags
+from openpilot.starpilot.common.testing_grounds import testing_ground
 
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 clip = np.clip
@@ -154,9 +155,9 @@ class LongControl:
     self.integrator_hold_frames = 0
 
   def _get_pedal_long_freeze(self, a_target, error, v_ego, accel_limits):
-    volt_long_handoff = self.is_volt
+    volt_test_tune_handoff = self.is_volt and testing_ground.use_2
 
-    if not self.is_gm_pedal_long and not volt_long_handoff:
+    if not self.is_gm_pedal_long and not volt_test_tune_handoff:
       self.last_a_target = a_target
       self.integrator_hold_frames = 0
       return False
@@ -183,8 +184,8 @@ class LongControl:
 
     return self.integrator_hold_frames > 0 or sat_pushing_lower or sat_pushing_upper
 
-  def _shape_volt_integrator(self, error, v_ego):
-    if not self.is_volt:
+  def _shape_volt_test_tune_integrator(self, error, v_ego):
+    if not (self.is_volt and testing_ground.use_2):
       return
 
     # Bleed stale I quickly when the target reverses against stored integrator.
@@ -223,7 +224,7 @@ class LongControl:
     else:  # LongCtrlState.pid
       error = a_target - CS.aEgo
       self.update_mpc_mode(self.experimental_mode)
-      self._shape_volt_integrator(error, CS.vEgo)
+      self._shape_volt_test_tune_integrator(error, CS.vEgo)
       feedforward = a_target * self.feedforward_gain
       freeze_integrator = self._get_pedal_long_freeze(a_target, error, CS.vEgo, accel_limits)
       raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=feedforward,

selfdrive/controls/tests/test_longcontrol.py

@@ -2,6 +2,7 @@ from types import SimpleNamespace
 
 from cereal import car
 
+import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState, long_control_state_trans
 
 
@@ -124,7 +125,7 @@ def test_starting_accel_obeys_a_target_cap_when_custom_profile_enabled():
   assert output_accel == 0.1
 
 
-def test_volt_pedal_handoff_freezes_integrator():
+def test_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
   CP = car.CarParams.new_message()
   CP.brand = "gm"
   CP.enableGasInterceptorDEPRECATED = True
@@ -134,6 +135,8 @@ def test_volt_pedal_handoff_freezes_integrator():
   CP.longitudinalTuning.kiBP = [0.0]
   CP.longitudinalTuning.kiV = [0.03]
 
+  monkeypatch.setattr(longcontrol.testing_ground, "use_2", True, raising=False)
+
   lc = LongControl(CP)
   freeze = lc._get_pedal_long_freeze(a_target=0.7, error=0.7, v_ego=8.0, accel_limits=(-3.0, 2.0))
 
@@ -141,7 +144,7 @@ def test_volt_pedal_handoff_freezes_integrator():
   assert lc.integrator_hold_frames > 0
 
 
-def test_non_interceptor_volt_handoff_freezes_integrator():
+def test_non_interceptor_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
   CP = car.CarParams.new_message()
   CP.brand = "gm"
   CP.enableGasInterceptorDEPRECATED = False
@@ -151,6 +154,8 @@ def test_non_interceptor_volt_handoff_freezes_integrator():
   CP.longitudinalTuning.kiBP = [0.0]
   CP.longitudinalTuning.kiV = [0.03]
 
+  monkeypatch.setattr(longcontrol.testing_ground, "use_2", True, raising=False)
+
   lc = LongControl(CP)
   freeze = lc._get_pedal_long_freeze(a_target=0.7, error=0.7, v_ego=8.0, accel_limits=(-3.0, 2.0))
 

starpilot/common/testing_grounds.py

@@ -40,9 +40,10 @@ TESTING_GROUNDS_SLOT_DEFINITIONS = (
   },
   {
     "id": TESTING_GROUND_2,
-    "name": "Unused",
-    "description": "",
-    "aLabel": "A",
+    "name": "Volt Long Tune",
+    "description": "Volt longitudinal tuning sandbox.",
+    "aLabel": "A - Installed tune",
+    "bLabel": "B - Firestar Tune",
   },
   {
     "id": TESTING_GROUND_3,
@@ -149,18 +150,6 @@ def _normalize_selection(slot_id, variant):
   return normalized_slot_id, _normalize_variant(variant, normalized_slot_id)
 
 
-def migrate_testing_ground_selection(slot_id, variant, default_slot_id=None):
-  normalized_slot_id = str(slot_id or "").strip()
-  normalized_variant = str(variant or "").strip().upper()
-  fallback_slot_id = str(default_slot_id or _DEFAULT_ACTIVE_SLOT).strip() or _DEFAULT_ACTIVE_SLOT
-
-  # Retire the Volt B sandbox cleanly when the tune graduates to default behavior.
-  if normalized_slot_id == TESTING_GROUND_2 and normalized_variant == TESTING_GROUND_TEST_VARIANT:
-    return fallback_slot_id, DEFAULT_TESTING_GROUND_VARIANT, True
-
-  return normalized_slot_id, normalized_variant, False
-
-
 def _write_testing_ground_selection(payload, slot_id, variant):
   normalized_payload = dict(payload) if isinstance(payload, dict) else {}
   normalized_payload["schemaVersion"] = TESTING_GROUNDS_SCHEMA_VERSION
@@ -209,12 +198,10 @@ def get_testing_ground_selection(refresh_interval_s=0.5):
 
     raw_slot_id = str(payload.get("activeSlot") or "").strip()
     raw_variant = payload.get("activeVariant")
-    migrated_slot_id, migrated_variant, selection_migrated = migrate_testing_ground_selection(raw_slot_id, raw_variant)
-    normalized_slot_id, normalized_variant = _normalize_selection(migrated_slot_id, migrated_variant)
+    normalized_slot_id, normalized_variant = _normalize_selection(raw_slot_id, raw_variant)
     raw_variant_text = str(raw_variant or "").strip().upper()
     if (
       payload.get("schemaVersion") != TESTING_GROUNDS_SCHEMA_VERSION or
-      selection_migrated or
       raw_slot_id != normalized_slot_id or
       raw_variant_text != normalized_variant
     ):

starpilot/common/tests/test_testing_grounds.py

@@ -5,7 +5,7 @@ import pytest
 from openpilot.starpilot.common import testing_grounds as tg
 
 
-@pytest.mark.parametrize("hidden_slot_id", [tg.TESTING_GROUND_2, tg.TESTING_GROUND_5])
+@pytest.mark.parametrize("hidden_slot_id", [tg.TESTING_GROUND_5])
 def test_hidden_testing_ground_selection_is_migrated(tmp_path, monkeypatch, hidden_slot_id):
   state_path = tmp_path / "slots.json"
   state_path.write_text(json.dumps({
@@ -28,11 +28,3 @@ def test_hidden_testing_ground_selection_is_migrated(tmp_path, monkeypatch, hidd
   payload = json.loads(state_path.read_text(encoding="utf-8"))
   assert payload["activeSlot"] == tg.TESTING_GROUND_1
   assert payload["activeVariant"] == tg.DEFAULT_TESTING_GROUND_VARIANT
-
-
-def test_retired_volt_b_selection_is_explicitly_migrated_to_default_a():
-  slot_id, variant, migrated = tg.migrate_testing_ground_selection(tg.TESTING_GROUND_2, tg.TESTING_GROUND_TEST_VARIANT, tg.TESTING_GROUND_1)
-
-  assert migrated
-  assert slot_id == tg.TESTING_GROUND_1
-  assert variant == tg.DEFAULT_TESTING_GROUND_VARIANT

starpilot/system/the_pond/the_pond.py

@@ -71,7 +71,6 @@ from openpilot.starpilot.common.testing_grounds import (
   TESTING_GROUNDS_SCHEMA_VERSION as SHARED_TESTING_GROUNDS_SCHEMA_VERSION,
   TESTING_GROUNDS_SLOT_DEFINITIONS as SHARED_TESTING_GROUNDS_SLOT_DEFINITIONS,
   TESTING_GROUNDS_STATE_PATH as SHARED_TESTING_GROUNDS_STATE_PATH,
-  migrate_testing_ground_selection as migrate_shared_testing_ground_selection,
 )
 from openpilot.starpilot.system.the_pond import utilities
 
@@ -2937,8 +2936,6 @@ def _load_testing_grounds_state_unlocked():
   }
   default_slot_id = _get_first_selectable_testing_ground_slot_id(state["slots"])
   active_slot = str(raw_state.get("activeSlot") or "").strip()
-  raw_active_variant = str(raw_state.get("activeVariant") or "").strip().upper()
-  active_slot, migrated_variant, selection_migrated = migrate_shared_testing_ground_selection(active_slot, raw_active_variant, default_slot_id)
   active_slot_migrated = active_slot not in fallback_slot_ids or active_slot not in selectable_slot_ids
   if active_slot_migrated:
     active_slot = default_slot_id
@@ -2946,10 +2943,11 @@ def _load_testing_grounds_state_unlocked():
   state["activeSlot"] = active_slot
 
   active_slot_data = _find_testing_ground_slot(state, active_slot)
-  if active_slot_migrated or selection_migrated:
+  raw_active_variant = str(raw_state.get("activeVariant") or "").strip().upper()
+  if active_slot_migrated:
     active_variant = _TESTING_GROUNDS_DEFAULT_VARIANT
   else:
-    active_variant = _normalize_testing_ground_variant(active_slot, migrated_variant, active_slot_data)
+    active_variant = _normalize_testing_ground_variant(active_slot, raw_active_variant, active_slot_data)
   if raw_active_variant != active_variant:
     needs_write = True
   state["activeVariant"] = active_variant