mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-13 07:53:45 +08:00
Split offroad native-output tests below source size limit
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Dom
@@ -62,6 +62,7 @@ jobs:
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run: >-
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tools/op.sh test
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openpilot/starpilot/flm/tests/test_offroad_backend.py
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openpilot/starpilot/flm/tests/test_offroad_equal_native_output.py
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--json-output ci-results/flm-offroad.json
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- name: Test completed-drive and steering-result presentation
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timeout-minutes: 1
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@@ -2360,95 +2360,5 @@ class TestOffroadTrackingPolicy(unittest.TestCase):
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self.assertEqual(result['improvement_kind'], 'forced_tracking')
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class TestOffroadEqualNativeOutput(unittest.TestCase):
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@staticmethod
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def boundary(platform, *, unwind=False):
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from openpilot.starpilot.flm.tests.test_steering_projection import make_interface, control, apply, settle, install_observer, check_packet
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from openpilot.starpilot.flm.torque_emission_replay import Emission
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ci = make_interface(platform)
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assert install_observer(ci)
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initial = settle(ci, control(0.0))[-1][2]
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limits = dict(initial.limits)
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step = limits['STEER_DELTA_DOWN' if unwind else 'STEER_DELTA_UP']
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if unwind:
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settle(ci, control(4 * step / initial.effective_max))
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target = (3 if unwind else 2) * step
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for _ in range(24):
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_, packets, witness = apply(ci, control(target / initial.effective_max))
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if witness is None:
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continue
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if (witness.unlimited_raw == witness.final_raw == target and
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witness.final_raw - witness.previous_torque == (-step if unwind else step)):
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check_packet(ci, packets, witness)
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stamp = 10_000_000_000 + witness.frame * 10_000_000
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return Emission(stamp, stamp, stamp + 1_000_000, witness, 'a' * 64, 'b' * 64, 'c' * 64,
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True, True, False, False, False, False, False, 0, 0, '')
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raise AssertionError('Actual registered encoder did not provide the unclipped rate boundary')
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def test_exact_same_request_uses_candidate_native_prestate(self):
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from opendbc.car.gm.values import CAR as GM
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from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.starpilot.flm.torque_emission_replay import EncoderBranch
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for platform in (GM.GMC_ACADIA, HYUNDAI.HYUNDAI_IONIQ_6, TOYOTA.TOYOTA_COROLLA_TSS2):
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with self.subTest(platform=platform):
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event = self.boundary(platform)
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w = event.witness
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original = EncoderBranch()
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self.assertEqual(original.step(event, w.requested_torque, actual=True), w.final_raw / w.effective_max)
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strict = EncoderBranch()
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strict.previous = w.previous_torque - 1
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with self.assertRaisesRegex(ValueError, 'limiter/support'):
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strict.step(event, w.requested_torque)
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candidate = EncoderBranch(allow_unclipped_equal_output=True)
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candidate.previous = w.previous_torque - 1
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self.assertEqual(candidate.step(event, w.requested_torque), (w.final_raw - 1) / w.effective_max)
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self.assertEqual(candidate.previous, w.final_raw - 1)
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self.assertFalse(event.limited)
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self.assertEqual(event.witness, w)
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def test_native_unwind_cap_is_not_an_unsafe_request(self):
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from opendbc.car.hyundai.values import CAR
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from openpilot.starpilot.flm.torque_emission_replay import EncoderBranch
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event = self.boundary(CAR.HYUNDAI_IONIQ_6, unwind=True)
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w = event.witness
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request = (w.unlimited_raw - 1) / w.effective_max
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with self.assertRaisesRegex(ValueError, 'limiter/support'):
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EncoderBranch().step(event, request)
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branch = EncoderBranch(allow_unclipped_equal_output=True)
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self.assertEqual(branch.step(event, request), w.final_raw / w.effective_max)
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self.assertEqual(branch.previous, w.final_raw)
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for unsafe in ((w.unlimited_raw + 1) / w.effective_max, -w.requested_torque):
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candidate = EncoderBranch(allow_unclipped_equal_output=True)
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candidate.previous = w.previous_torque + 100
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with self.assertRaises(ValueError):
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candidate.step(event, unsafe)
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def test_equal_output_does_not_relax_original_or_legacy_quality(self):
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from opendbc.car.gm.values import CAR as GM
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from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.starpilot.flm.torque_emission_replay import EncoderBranch
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from openpilot.starpilot.flm.tests import test_state_aligned_encoder as legacy
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event = self.boundary(HYUNDAI.HYUNDAI_IONIQ_6)
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branch = EncoderBranch(allow_unclipped_equal_output=True)
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branch.previous = event.witness.previous_torque - 1
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with self.assertRaisesRegex(ValueError, 'actual previous'):
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branch.step(event, event.witness.requested_torque, actual=True)
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clipped = legacy.captured_event(TOYOTA.TOYOTA_COROLLA_TSS2)
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with self.assertRaisesRegex(ValueError, 'limiter/support'):
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EncoderBranch(allow_unclipped_equal_output=True).step(replace(clipped, limited=False), clipped.witness.requested_torque)
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for platform in (TOYOTA.TOYOTA_COROLLA_TSS2, GM.GMC_ACADIA):
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legacy.test_registered_measured_driver_same_request_shadow_and_increased_demand(platform)
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legacy.test_common_state_unlimited_reference_recorded_opposite_and_original_unlimited_vetoes()
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legacy.test_unsupported_paired_projection_fails_without_advancing_candidate_native_state()
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legacy.test_honda_normalized_pre_lookup_comparison_and_modified_filter_shadow_is_pure()
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legacy.test_honda_nonfinite_reference_and_paired_original_pressed_fail_closed()
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if __name__ == '__main__':
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unittest.main()
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@@ -0,0 +1,98 @@
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"""Unchanged native output contracts using declared unit fixtures."""
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from dataclasses import replace
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import unittest
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class TestOffroadEqualNativeOutput(unittest.TestCase):
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@staticmethod
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def boundary(platform, *, unwind=False):
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from openpilot.starpilot.flm.tests.test_steering_projection import make_interface, control, apply, settle, install_observer, check_packet
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from openpilot.starpilot.flm.torque_emission_replay import Emission
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ci = make_interface(platform)
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assert install_observer(ci)
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initial = settle(ci, control(0.0))[-1][2]
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limits = dict(initial.limits)
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step = limits['STEER_DELTA_DOWN' if unwind else 'STEER_DELTA_UP']
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if unwind:
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settle(ci, control(4 * step / initial.effective_max))
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target = (3 if unwind else 2) * step
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for _ in range(24):
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_, packets, witness = apply(ci, control(target / initial.effective_max))
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if witness is None:
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continue
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if (witness.unlimited_raw == witness.final_raw == target and
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witness.final_raw - witness.previous_torque == (-step if unwind else step)):
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check_packet(ci, packets, witness)
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stamp = 10_000_000_000 + witness.frame * 10_000_000
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return Emission(stamp, stamp, stamp + 1_000_000, witness, 'a' * 64, 'b' * 64, 'c' * 64,
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True, True, False, False, False, False, False, 0, 0, '')
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raise AssertionError('Actual registered encoder did not provide the unclipped rate boundary')
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def test_exact_same_request_uses_candidate_native_prestate(self):
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from opendbc.car.gm.values import CAR as GM
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from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.starpilot.flm.torque_emission_replay import EncoderBranch
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for platform in (GM.GMC_ACADIA, HYUNDAI.HYUNDAI_IONIQ_6, TOYOTA.TOYOTA_COROLLA_TSS2):
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with self.subTest(platform=platform):
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event = self.boundary(platform)
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w = event.witness
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original = EncoderBranch()
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self.assertEqual(original.step(event, w.requested_torque, actual=True), w.final_raw / w.effective_max)
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strict = EncoderBranch()
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strict.previous = w.previous_torque - 1
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with self.assertRaisesRegex(ValueError, 'limiter/support'):
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strict.step(event, w.requested_torque)
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candidate = EncoderBranch(allow_unclipped_equal_output=True)
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candidate.previous = w.previous_torque - 1
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self.assertEqual(candidate.step(event, w.requested_torque), (w.final_raw - 1) / w.effective_max)
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self.assertEqual(candidate.previous, w.final_raw - 1)
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self.assertFalse(event.limited)
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self.assertEqual(event.witness, w)
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def test_native_unwind_cap_is_not_an_unsafe_request(self):
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from opendbc.car.hyundai.values import CAR
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from openpilot.starpilot.flm.torque_emission_replay import EncoderBranch
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event = self.boundary(CAR.HYUNDAI_IONIQ_6, unwind=True)
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w = event.witness
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request = (w.unlimited_raw - 1) / w.effective_max
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with self.assertRaisesRegex(ValueError, 'limiter/support'):
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EncoderBranch().step(event, request)
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branch = EncoderBranch(allow_unclipped_equal_output=True)
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self.assertEqual(branch.step(event, request), w.final_raw / w.effective_max)
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self.assertEqual(branch.previous, w.final_raw)
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for unsafe in ((w.unlimited_raw + 1) / w.effective_max, -w.requested_torque):
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candidate = EncoderBranch(allow_unclipped_equal_output=True)
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candidate.previous = w.previous_torque + 100
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with self.assertRaises(ValueError):
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candidate.step(event, unsafe)
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def test_equal_output_does_not_relax_original_or_legacy_quality(self):
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from opendbc.car.gm.values import CAR as GM
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from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.starpilot.flm.torque_emission_replay import EncoderBranch
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from openpilot.starpilot.flm.tests import test_state_aligned_encoder as legacy
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event = self.boundary(HYUNDAI.HYUNDAI_IONIQ_6)
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branch = EncoderBranch(allow_unclipped_equal_output=True)
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branch.previous = event.witness.previous_torque - 1
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with self.assertRaisesRegex(ValueError, 'actual previous'):
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branch.step(event, event.witness.requested_torque, actual=True)
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clipped = legacy.captured_event(TOYOTA.TOYOTA_COROLLA_TSS2)
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with self.assertRaisesRegex(ValueError, 'limiter/support'):
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EncoderBranch(allow_unclipped_equal_output=True).step(replace(clipped, limited=False), clipped.witness.requested_torque)
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for platform in (TOYOTA.TOYOTA_COROLLA_TSS2, GM.GMC_ACADIA):
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legacy.test_registered_measured_driver_same_request_shadow_and_increased_demand(platform)
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legacy.test_common_state_unlimited_reference_recorded_opposite_and_original_unlimited_vetoes()
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legacy.test_unsupported_paired_projection_fails_without_advancing_candidate_native_state()
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legacy.test_honda_normalized_pre_lookup_comparison_and_modified_filter_shadow_is_pure()
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legacy.test_honda_nonfinite_reference_and_paired_original_pressed_fail_closed()
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if __name__ == '__main__':
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unittest.main()
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+1
-1
@@ -1 +1 @@
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{"protected_inventory_sha256": "e94ee72057011ff5d3cd0a0250d65d4ebf13d3f526196d04626c2fec6ddc29db", "schema_version": 1}
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{"protected_inventory_sha256": "9d345835e1a2c5db2d6d705beab91e39085abe810937eca4552d5727d3030e05", "schema_version": 1}
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