mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
Learning Workers
Process drive evidence and fit bounded steering profiles off the controls loop.
This commit is contained in:
firestar5683
@@ -0,0 +1,61 @@
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"""Desktop-only FLM diagnostic report from explicitly selected closed rlogs."""
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import argparse
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from collections.abc import Callable, Sequence
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from dataclasses import asdict
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import json
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from pathlib import Path
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import sys
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from openpilot.common.hardware import PC
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from openpilot.starpilot.galaxy.drive_history import SEGMENT_NAME
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from openpilot.starpilot.flm.local_logs import LocalLogUnavailable, read_closed_rlog
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from openpilot.starpilot.flm.log_decode import LogDecodeError, decode_segment
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from openpilot.starpilot.flm.offline import MAX_SEGMENTS, SegmentInput, analyze_segments
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def analyze_local(root: Path, names: Sequence[str], *, cancelled: Callable[[], bool] = lambda: False) -> dict:
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"""Process one bounded segment at a time; never return a partial report."""
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if not PC:
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raise ValueError("Use a desktop: device analysis needs a separate parked operation owner")
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if not 1 <= len(names) <= MAX_SEGMENTS or len(set(names)) != len(names):
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raise ValueError("Select one to five distinct closed segments")
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reports = []
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for name in names:
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source = read_closed_rlog(root, name, permitted=lambda: not cancelled())
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match = SEGMENT_NAME.fullmatch(name)
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assert match is not None
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events = decode_segment(source.compressed, source.codec, cancelled=cancelled)
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report = analyze_segments((SegmentInput(match.group("route"), int(match.group("number")), events),), cancelled=cancelled)
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reports.append({"source": {"segmentName": source.segment_name, "sha256": source.sha256,
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"compressedBytes": source.size, "codec": source.codec},
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"analysis": asdict(report.segments[0])})
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del events, source
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if cancelled():
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raise ValueError("Analysis cancelled")
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return {"schemaVersion": 1, "purpose": "offline_tracking_diagnostics", "segments": reports,
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"tuneRecommendation": None, "vehicleQualification": False}
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def main(argv: Sequence[str] | None = None) -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--log-root", required=True, type=Path, help="Absolute local recording directory; no remote routes")
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parser.add_argument("--output", type=Path, help="Create a new JSON report file; never overwrite an existing file")
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parser.add_argument("segments", nargs="+", help="Closed segment directory names under --log-root (at most five)")
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args = parser.parse_args(argv)
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try:
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result = analyze_local(args.log_root, args.segments)
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payload = json.dumps(result, allow_nan=False, indent=2)
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if args.output is not None:
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with args.output.open("x", encoding="utf-8") as destination:
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destination.write(payload + "\n")
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else:
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print(payload)
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except (LocalLogUnavailable, LogDecodeError, OSError, ValueError, RuntimeError) as error:
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print(f"FLM analysis unavailable: {error}", file=sys.stderr)
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return 1
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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@@ -0,0 +1,112 @@
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"""Admit one immutable, closed local rlog for offline analysis; never download."""
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from collections.abc import Callable
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from dataclasses import dataclass, field
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import hashlib
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import os
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from pathlib import Path
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import stat
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from openpilot.starpilot.galaxy.drive_history import MAX_SEGMENT_ENTRIES, SEGMENT_NAME
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MAX_COMPRESSED_BYTES = 32 * 1024 * 1024
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DIR_FLAGS = os.O_RDONLY | os.O_DIRECTORY | os.O_NOFOLLOW | os.O_NONBLOCK
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FILE_FLAGS = os.O_RDONLY | os.O_NOFOLLOW | os.O_NONBLOCK
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RLOGS = {"rlog.zst": "zst", "rlog.bz2": "bz2"}
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class LocalLogUnavailable(Exception):
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pass
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@dataclass(frozen=True)
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class ClosedLog:
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segment_name: str
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codec: str
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compressed: bytes = field(repr=False)
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sha256: str
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size: int
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def _identity(info: os.stat_result) -> tuple[int, int]:
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return info.st_dev, info.st_ino
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def _revision(info: os.stat_result) -> tuple[int, ...]:
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return (*_identity(info), info.st_size, info.st_mtime_ns, info.st_ctime_ns)
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def _allowed(permitted: Callable[[], bool]) -> None:
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if not permitted():
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raise LocalLogUnavailable("Analysis is no longer allowed")
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def _closed_rlog(fd: int) -> str:
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found = []
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with os.scandir(fd) as entries:
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for count, entry in enumerate(entries, 1):
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if count > MAX_SEGMENT_ENTRIES or entry.name.endswith(".lock"):
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raise LocalLogUnavailable("Segment is open or unavailable")
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if entry.name in RLOGS:
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found.append(entry.name)
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if len(found) != 1:
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raise LocalLogUnavailable("Select a segment with exactly one closed full rlog")
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return found[0]
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def read_closed_rlog(root: Path, segment_name: str, *, permitted: Callable[[], bool]) -> ClosedLog:
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"""Revalidate an inventory choice, then bind its receipt to the bytes read.
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The inventory is not authority: locks, file type, bounds and inode revisions
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are checked again at admission and after the complete read. The supplied
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root is the locally configured recording directory, never an HTTP input.
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No decoded events or successful receipt escape a partial/cancelled read.
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"""
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matched = SEGMENT_NAME.fullmatch(segment_name) if type(segment_name) is str and len(segment_name) <= 180 else None
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if matched is None or len(matched.group("number")) > 6 or not root.is_absolute() or ".." in root.parts:
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raise LocalLogUnavailable("Invalid local segment selection")
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fds = []
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try:
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_allowed(permitted)
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root_fd = os.open(root, DIR_FLAGS)
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fds.append(root_fd)
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root_info = os.fstat(root_fd)
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segment_fd = os.open(segment_name, DIR_FLAGS, dir_fd=root_fd)
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fds.append(segment_fd)
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segment_info = os.fstat(segment_fd)
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filename = _closed_rlog(segment_fd)
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source_fd = os.open(filename, FILE_FLAGS, dir_fd=segment_fd)
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fds.append(source_fd)
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before = os.fstat(source_fd)
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if not stat.S_ISREG(before.st_mode) or not 0 < before.st_size <= MAX_COMPRESSED_BYTES:
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raise LocalLogUnavailable("Full rlog is empty, oversized or not a regular file")
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chunks = []
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remaining = before.st_size
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while remaining:
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_allowed(permitted)
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chunk = os.read(source_fd, min(1024 * 1024, remaining))
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if not chunk:
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raise LocalLogUnavailable("Full rlog changed while reading")
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chunks.append(chunk)
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remaining -= len(chunk)
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if os.read(source_fd, 1):
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raise LocalLogUnavailable("Full rlog grew while reading")
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_allowed(permitted)
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after = os.fstat(source_fd)
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current = os.stat(filename, dir_fd=segment_fd, follow_symlinks=False)
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segment_now = os.stat(segment_name, dir_fd=root_fd, follow_symlinks=False)
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root_now = os.stat(root, follow_symlinks=False)
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if (_revision(before) != _revision(after) or _revision(after) != _revision(current) or
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not stat.S_ISREG(current.st_mode) or not stat.S_ISDIR(segment_now.st_mode) or
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not stat.S_ISDIR(root_now.st_mode) or _identity(segment_now) != _identity(segment_info) or
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_identity(root_now) != _identity(root_info) or _closed_rlog(segment_fd) != filename):
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raise LocalLogUnavailable("Local recording identity changed")
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raw = b"".join(chunks)
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_allowed(permitted)
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return ClosedLog(segment_name, RLOGS[filename], raw, hashlib.sha256(raw).hexdigest(), len(raw))
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except (OSError, ValueError) as error:
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raise LocalLogUnavailable("Local recording is unavailable") from error
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finally:
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for fd in reversed(fds):
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os.close(fd)
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@@ -0,0 +1,556 @@
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"""One parked, read-only FLM operation with an isolated local-log worker."""
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from collections.abc import Callable, Sequence
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from contextlib import contextmanager
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import json
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import logging
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import os
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from pathlib import Path
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import selectors
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import subprocess
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import sys
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import threading
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import time
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import uuid
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from openpilot.common.hardware.hw import Paths
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from openpilot.starpilot.galaxy.drive_history import SEGMENT_NAME
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MAX_REPORT_BYTES = 1024 * 1024
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MAX_PIPE_BYTES = MAX_REPORT_BYTES + 4096
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WALL_DEADLINE_SECONDS = 5 * 60
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POLL_SECONDS = 0.05
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ACTIVE_STATE = 'running'
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ERROR_CODES = frozenset(('invalid_request', 'busy', 'not_parked', 'operation_changed', 'unavailable',
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'canceled', 'process_failed', 'deadline', 'recording_unavailable', 'decode_failed', 'resource_limit'))
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class FlmOperationError(RuntimeError):
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def __init__(self, code: str):
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self.code = code if code in ERROR_CODES else 'unavailable'
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super().__init__(self.code)
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def _stop_child(child: subprocess.Popen) -> None:
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if child.poll() is not None:
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child.wait()
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return
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try:
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child.terminate()
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except ProcessLookupError:
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pass
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try:
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child.wait(timeout=0.5)
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except subprocess.TimeoutExpired:
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try:
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child.kill()
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except ProcessLookupError:
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pass
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try:
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child.wait(timeout=0.5)
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except subprocess.TimeoutExpired as error:
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raise FlmOperationError('unavailable') from error
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class FlmAnalysisOwner:
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"""Parent alone owns fresh parked authority, operation identity and report visibility."""
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def __init__(self, *, parked: Callable[[], bool], root: Path | None = None,
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worker_argv: Sequence[str] | None = None, completed: Callable[[dict], bool] | None = None):
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self.root = Path(Paths.log_root()) if root is None else root
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self._parked = parked
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self._completed = completed
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self._worker_argv = tuple(worker_argv) if worker_argv is not None else (
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sys.executable, '-m', 'openpilot.starpilot.flm.operation_worker')
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self._lock = threading.RLock()
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self._session = uuid.uuid4().hex
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self._sequence = 0
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self._closed = False
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self._cancel = threading.Event()
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self._child: subprocess.Popen | None = None
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self._monitor_thread: threading.Thread | None = None
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self._report: dict | None = None
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self._status = self._fresh_status('idle', None, 0)
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@staticmethod
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def _fresh_status(state: str, operation_id: str | None, selected: int, processed: int = 0,
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error_code: str | None = None) -> dict:
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return {'version': 1, 'operationId': operation_id, 'state': state, 'selected': selected,
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'processed': processed, 'errorCode': error_code}
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def _allowed(self) -> bool:
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try:
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return self._parked() is True
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except Exception:
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return False
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def _revoke_if_unparked(self) -> None:
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if self._allowed():
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return
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with self._lock:
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if self._status['state'] != 'idle':
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self._status = self._fresh_status('unavailable', self._status['operationId'],
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self._status['selected'], self._status['processed'], 'not_parked')
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self._report = None
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self._cancel.set()
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def snapshot(self) -> dict:
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self._revoke_if_unparked()
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with self._lock:
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return dict(self._status)
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def start(self, segment_names: Sequence[str], *, gm_context: dict | None = None) -> dict:
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if (type(segment_names) not in (tuple, list) or not 1 <= len(segment_names) <= 5 or
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any(type(name) is not str or len(name) > 180 or SEGMENT_NAME.fullmatch(name) is None
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for name in segment_names) or len(set(segment_names)) != len(segment_names)):
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raise FlmOperationError('invalid_request')
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if gm_context is not None:
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from openpilot.starpilot.flm.gm_recommend import validate_context
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gm_context = json.loads(json.dumps(validate_context(gm_context), allow_nan=False))
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if not self._allowed():
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raise FlmOperationError('not_parked')
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with self._lock:
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if self._closed:
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raise FlmOperationError('unavailable')
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if self._status['state'] == ACTIVE_STATE or self._child is not None or \
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(self._monitor_thread is not None and self._monitor_thread.is_alive()):
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raise FlmOperationError('busy')
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self._sequence += 1
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token = f'{self._session}:{self._sequence}'
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self._cancel = threading.Event()
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self._report = None
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self._status = self._fresh_status(ACTIVE_STATE, token, len(segment_names))
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request_value = {'root': str(self.root), 'segments': list(segment_names), 'parentPid': os.getpid()}
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if gm_context is not None:
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request_value['gmContext'] = gm_context
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request = json.dumps(request_value, sort_keys=True, allow_nan=False, separators=(',', ':')).encode()
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if len(request) > (32768 if gm_context is not None else 2048):
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self._status = self._fresh_status('failed', token, len(segment_names), error_code='invalid_request')
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raise FlmOperationError('invalid_request')
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# The monitor must create the child: Linux PR_SET_PDEATHSIG follows the
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# creating thread, and an HTTP request thread ends after this response.
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self._monitor_thread = threading.Thread(target=self._monitor, args=(token, self._cancel,
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tuple(segment_names), request, gm_context), daemon=True)
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try:
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self._monitor_thread.start()
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except RuntimeError as error:
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self._monitor_thread = None
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self._status = self._fresh_status('failed', token, len(segment_names), error_code='unavailable')
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raise FlmOperationError('unavailable') from error
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self._revoke_if_unparked()
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return self.snapshot()
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def _monitor(self, token: str, canceled: threading.Event, names: tuple[str, ...], request: bytes,
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gm_context: dict | None = None) -> None:
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result: dict | None = None
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error: str | None = 'process_failed'
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child: subprocess.Popen | None = None
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reaped = False
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try:
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if canceled.is_set():
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error = 'canceled'
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return
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if not self._allowed():
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error = 'not_parked'
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return
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child = subprocess.Popen(self._worker_argv, stdin=subprocess.PIPE, stdout=subprocess.PIPE,
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stderr=subprocess.DEVNULL, bufsize=0, close_fds=True)
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with self._lock:
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if self._status['operationId'] == token:
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self._child = child
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if child.stdin is None:
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raise OSError('worker input unavailable')
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child.stdin.write(request)
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child.stdin.close()
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result, error = self._read_worker(token, child, canceled, names)
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if error is None:
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if result is None:
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raise ValueError('missing report')
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sources = result['segments']
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if (result.get('schemaVersion') != 1 or
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result.get('purpose') != ('offline_tracking_diagnostics' if gm_context is None else 'gm_flm_evidence_profiles') or
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result.get('tuneRecommendation', 1) is not None or result.get('vehicleQualification') is not False or
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type(sources) is not list or [row['source']['segmentName'] for row in sources] != list(names)):
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raise ValueError('report shape')
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if gm_context is not None:
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from openpilot.starpilot.flm.gm_recommend import validate_context
|
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evidence = result.get('gmEvidence')
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if (type(evidence) is not dict or validate_context(evidence['context']) != gm_context or
|
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evidence.get('fit') is not False or evidence.get('vehicleQualification') is not False):
|
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raise ValueError('GM report source')
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result = {**result, 'operationId': token}
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if len(json.dumps(result, allow_nan=False).encode()) > MAX_REPORT_BYTES:
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raise ValueError('report limit')
|
||||
except Exception:
|
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logging.exception('FLM operation failed')
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error = 'process_failed'
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finally:
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if child is not None:
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try:
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_stop_child(child)
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reaped = True
|
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except (OSError, FlmOperationError):
|
||||
error = 'unavailable'
|
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for pipe in (child.stdin, child.stdout):
|
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if pipe is None:
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continue
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try:
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pipe.close()
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except OSError:
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error = 'unavailable'
|
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else:
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reaped = True
|
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if not self._allowed():
|
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error = 'not_parked'
|
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# Completion effects acquire the HTTP effect guard before this owner's
|
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# lock. Never invoke a callback while holding the owner lock.
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if error is None and result is not None and not canceled.is_set() and reaped and gm_context is not None and self._completed is not None:
|
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try:
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result['gmEvidence']['progressRecorded'] = self._completed(result) is True
|
||||
except Exception:
|
||||
logging.exception('FLM cleanup progress was not recorded')
|
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result['gmEvidence']['progressRecorded'] = False
|
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with self._lock:
|
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if self._status['operationId'] == token:
|
||||
if self._closed or self._status['state'] == 'unavailable' or not self._allowed():
|
||||
error = 'not_parked' if not self._closed else 'unavailable'
|
||||
if error is None and not canceled.is_set() and reaped:
|
||||
self._report = result
|
||||
self._status = self._fresh_status('completed', token, len(names), len(names))
|
||||
else:
|
||||
code = 'unavailable' if self._closed else \
|
||||
'canceled' if canceled.is_set() and error != 'not_parked' else error or 'canceled'
|
||||
unavailable = code in ('not_parked', 'unavailable', 'recording_unavailable', 'decode_failed', 'resource_limit')
|
||||
state = 'canceled' if code == 'canceled' else 'unavailable' if unavailable else 'failed'
|
||||
self._status = self._fresh_status(state, token, len(names), self._status['processed'], code)
|
||||
self._report = None
|
||||
if child is not None and self._child is child and reaped:
|
||||
self._child = None
|
||||
|
||||
def _read_worker(self, token: str, child: subprocess.Popen, canceled: threading.Event,
|
||||
names: tuple[str, ...]) -> tuple[dict | None, str | None]:
|
||||
if child.stdout is None:
|
||||
return None, 'process_failed'
|
||||
deadline = time.monotonic() + WALL_DEADLINE_SECONDS
|
||||
buffer = bytearray()
|
||||
consumed = 0
|
||||
result = None
|
||||
error = None
|
||||
with selectors.DefaultSelector() as selector:
|
||||
selector.register(child.stdout, selectors.EVENT_READ)
|
||||
while error is None:
|
||||
if canceled.is_set():
|
||||
return None, 'canceled'
|
||||
if not self._allowed():
|
||||
return None, 'not_parked'
|
||||
if time.monotonic() >= deadline:
|
||||
return None, 'deadline'
|
||||
if not selector.select(POLL_SECONDS):
|
||||
continue
|
||||
chunk = os.read(child.stdout.fileno(), 64 * 1024)
|
||||
if not chunk:
|
||||
break # Pipe EOF; wait only a bounded time for the child to exit.
|
||||
consumed += len(chunk)
|
||||
if consumed > MAX_PIPE_BYTES:
|
||||
return None, 'process_failed'
|
||||
buffer.extend(chunk)
|
||||
while b'\n' in buffer:
|
||||
line, _, remainder = buffer.partition(b'\n')
|
||||
buffer = bytearray(remainder)
|
||||
message = json.loads(line)
|
||||
if type(message) is not dict:
|
||||
return None, 'process_failed'
|
||||
if message.get('kind') == 'progress' and type(message.get('processed')) is int and \
|
||||
0 < message['processed'] <= len(names):
|
||||
with self._lock:
|
||||
if self._status['operationId'] == token and self._status['state'] == ACTIVE_STATE:
|
||||
self._status['processed'] = max(self._status['processed'], message['processed'])
|
||||
elif message.get('kind') == 'result' and type(message.get('report')) is dict:
|
||||
result = message['report']
|
||||
elif message.get('kind') == 'error' and message.get('code') in (
|
||||
'unavailable', 'process_failed', 'recording_unavailable', 'decode_failed', 'resource_limit',
|
||||
):
|
||||
error = message['code']
|
||||
else:
|
||||
return None, 'process_failed'
|
||||
if error is not None:
|
||||
break
|
||||
if error is not None:
|
||||
return None, error
|
||||
if buffer or child.wait(timeout=0.5) != 0 or result is None:
|
||||
return None, 'process_failed'
|
||||
return result, None
|
||||
|
||||
def report(self, operation_id: str) -> dict:
|
||||
self._revoke_if_unparked()
|
||||
with self._lock:
|
||||
if self._closed:
|
||||
raise FlmOperationError('unavailable')
|
||||
if self._status['operationId'] != operation_id:
|
||||
raise FlmOperationError('operation_changed')
|
||||
if self._status['state'] != 'completed' or self._report is None:
|
||||
raise FlmOperationError(self._status['errorCode'] or 'unavailable')
|
||||
return json.loads(json.dumps(self._report, allow_nan=False))
|
||||
|
||||
@contextmanager
|
||||
def completion_guard(self, operation_id: str):
|
||||
# Called only after the shared HTTP effect guard, and retained through the
|
||||
# optional metadata commit so cancel/close cannot retire this operation
|
||||
# between its final authority check and document replacement.
|
||||
with self._lock:
|
||||
yield (self._status['operationId'] == operation_id and self._status['state'] == ACTIVE_STATE and
|
||||
not self._closed and not self._cancel.is_set() and self._allowed())
|
||||
|
||||
def cancel(self, operation_id: str) -> dict:
|
||||
self._revoke_if_unparked()
|
||||
with self._lock:
|
||||
if self._status['operationId'] != operation_id:
|
||||
raise FlmOperationError('operation_changed')
|
||||
if self._status['state'] != ACTIVE_STATE:
|
||||
return dict(self._status)
|
||||
self._cancel.set()
|
||||
thread = self._monitor_thread
|
||||
if thread is not None:
|
||||
thread.join(timeout=1.5)
|
||||
if thread.is_alive():
|
||||
with self._lock:
|
||||
child = self._child
|
||||
if child is not None:
|
||||
_stop_child(child)
|
||||
thread.join(timeout=0.5)
|
||||
return self.snapshot()
|
||||
|
||||
def close(self) -> None:
|
||||
with self._lock:
|
||||
self._closed = True
|
||||
self._cancel.set()
|
||||
thread = self._monitor_thread
|
||||
if thread is not None:
|
||||
thread.join(timeout=1.5)
|
||||
with self._lock:
|
||||
child = self._child
|
||||
if child is not None:
|
||||
_stop_child(child)
|
||||
with self._lock:
|
||||
self._report = None
|
||||
if self._status['state'] != 'idle':
|
||||
self._status = self._fresh_status('unavailable', self._status['operationId'],
|
||||
self._status['selected'], self._status['processed'], 'unavailable')
|
||||
|
||||
class FlmTrialOwner:
|
||||
"""Existing FLM namespace's parked exact-source atomic surface editor."""
|
||||
def __init__(self, params, context):
|
||||
self.params, self.context = params, context
|
||||
|
||||
def _sources(self):
|
||||
import hashlib
|
||||
from openpilot.starpilot.flm.live import gm_capability
|
||||
from openpilot.starpilot.lateral.controller_selection import DOCUMENT_KEY as SELECTION_KEY, selection_from_bytes
|
||||
from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, MAX_DOCUMENT_BYTES, parse_document
|
||||
from openpilot.starpilot.saved_source import read_saved
|
||||
ctx = self.context.sample()
|
||||
raw, readable = read_saved(self.params, DOCUMENT_KEY, MAX_DOCUMENT_BYTES)
|
||||
selection_raw, selection_readable = read_saved(self.params, SELECTION_KEY, 4096)
|
||||
selection = None if ctx.cp is None or not selection_readable else selection_from_bytes(ctx.cp, selection_raw)
|
||||
cap = (None if selection is None or selection.source == 'invalid' else gm_capability(ctx.cp, selection.mode))
|
||||
if not readable or cap is None or ctx.cp_raw is None:
|
||||
raise FlmOperationError('unavailable')
|
||||
try:
|
||||
profiles = {} if raw is None else parse_document(raw)
|
||||
except (ValueError, TypeError, UnicodeError, OverflowError):
|
||||
raise FlmOperationError('unavailable') from None
|
||||
guards = []
|
||||
for key, limit in (('AdvancedLateralTune', 64), ('ForceAutoTuneOff', 1)):
|
||||
value, valid = read_saved(self.params, key, limit)
|
||||
guards.append((key, valid, None if value is None else value.hex()))
|
||||
token = hashlib.sha256(
|
||||
json.dumps(cap,sort_keys=True).encode()+b'\0'+ctx.cp_raw+b'\0'+(raw or b'')+
|
||||
b'\0'+(selection_raw or b'')+b'\0'+json.dumps(guards).encode()).hexdigest()
|
||||
return ctx, raw, selection_raw, cap, profiles, token
|
||||
|
||||
def snapshot(self):
|
||||
from opendbc.car.lateral import FRICTION_THRESHOLD
|
||||
from openpilot.starpilot.flm.live import binding_matches
|
||||
from openpilot.starpilot.flm.torque_surface import GmFlmBinding, GmSurface, _GM_BOUNDS, _GM_RICH_BOUNDS
|
||||
try:
|
||||
ctx, _, _, cap, profiles, token = self._sources()
|
||||
except FlmOperationError:
|
||||
return {'version': 1, 'available': False, 'editable': False}
|
||||
profile = profiles.get(cap['fingerprint'])
|
||||
state = GmFlmBinding(cap['controller'],cap['policy'],cap['basis']) if profile is None or profile.flm is None else profile.flm
|
||||
matched = profile is None or (profile.basis == cap['basis'] and
|
||||
(profile.flm is None or binding_matches(profile,cap)))
|
||||
from openpilot.starpilot.flm.manual_trial import manual_snapshot, manual_profile, manual_preconditions
|
||||
from openpilot.starpilot.lateral.torque_settings import PlatformProfile, FieldChoice
|
||||
current = profile or PlatformProfile(cap['basis'], FieldChoice(), FieldChoice())
|
||||
current_manual = manual_snapshot(current, cap['fingerprint'])
|
||||
manual_conflict = state.applied_manual is not None and current_manual != state.applied_manual
|
||||
preconditions = {}
|
||||
for key, raw in state.manual:
|
||||
try:
|
||||
preconditions[key] = manual_preconditions(self.params, ctx.cp, cap['controller'],
|
||||
manual_profile(raw, cap['fingerprint'], cap['basis']))
|
||||
except ValueError:
|
||||
preconditions[key] = ['The saved manual controller or geometry basis changed. Review those choices in settings and save again.']
|
||||
limits = dict(_GM_BOUNDS)
|
||||
limits.update(_GM_RICH_BOUNDS if cap['profile'] == 'gm_bolt_2022_2023' else {'ff_gain_left':(-.4,.6),'ff_gain_right':(-.4,.6)})
|
||||
return {'version': 1, 'available': matched, 'editable': bool(ctx.parked and matched),
|
||||
'reason': None if matched else ('The selected controller or vehicle basis changed. Reset this surface binding to retain ' +
|
||||
'manual choices and edit the current controller.'),
|
||||
'manualConflict': manual_conflict, 'manual': current_manual, 'preconditions': preconditions,
|
||||
'resettable': bool(ctx.parked and profile is not None and profile.flm is not None), 'token': token,
|
||||
'vehicle': cap['fingerprint'], 'controller': cap['controller'], 'profile': cap['profile'],
|
||||
'curveDefaults': [FRICTION_THRESHOLD if cap['controller'] == 'standard' else GmSurface(cap['profile'],{}).base_threshold(speed)
|
||||
for speed in (0.,5.,10.,15.,25.)],
|
||||
'inactiveKnobs': {'low_speed_angle_assist_max_torque': ('The selected custom Bolt output law excludes universal angle assist. STANDARD consumes ' +
|
||||
'this choice.')}
|
||||
if cap['controller'] == 'starpilot' and cap['policy'] == 'bolt' else {},
|
||||
'state': state.document(), 'defaults': GmSurface(cap['profile'],{}).document(),
|
||||
'knobs': {key:{'min':low,'max':high} for key,(low,high) in limits.items()}}
|
||||
|
||||
def action(self, payload, *, session_valid=lambda: True, generated_manual=None):
|
||||
from dataclasses import replace
|
||||
import re
|
||||
import secrets
|
||||
from openpilot.starpilot.flm.live import binding_matches
|
||||
from openpilot.starpilot.flm.torque_surface import GmFlmBinding, GmSurface
|
||||
from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, MAX_DOCUMENT_BYTES, PlatformProfile, FieldChoice, serialize_document
|
||||
from openpilot.starpilot.saved_document import commit_exact
|
||||
if type(payload) is not dict or payload.get('action') not in ('save','delete','trial','apply','restore','accept','disable','reset','record-progress'):
|
||||
raise ValueError('Invalid GM FLM action')
|
||||
action=payload['action']
|
||||
if generated_manual is not None and action != 'save':
|
||||
raise ValueError('Wrong generated manual action')
|
||||
expected_fields={'action','token'} | (
|
||||
{'id','label','surface'} if action=='save' else {'id'} if action in ('delete','trial','apply')
|
||||
else {'trial'} if action in ('restore','accept') else set())
|
||||
if set(payload)!=expected_fields or type(payload['token']) is not str or re.fullmatch(r'[a-f0-9]{64}',payload['token']) is None:
|
||||
raise ValueError('Invalid GM FLM source')
|
||||
ctx, raw, selection_raw, cap, profiles, token = self._sources()
|
||||
if not ctx.parked or not session_valid():
|
||||
raise FlmOperationError('not_parked')
|
||||
if payload['token']!=token:
|
||||
raise FlmOperationError('operation_changed')
|
||||
profile=profiles.get(cap['fingerprint'],PlatformProfile(cap['basis'],FieldChoice(),FieldChoice()))
|
||||
if action != 'reset' and (profile.basis != cap['basis'] or
|
||||
profile.flm is not None and not binding_matches(profile,cap)):
|
||||
raise FlmOperationError('operation_changed')
|
||||
state=profile.flm or GmFlmBinding(cap['controller'],cap['policy'],cap['basis'])
|
||||
saved={key:(label,surface) for key,label,surface in state.saved}
|
||||
manual = dict(state.manual)
|
||||
from openpilot.starpilot.flm.manual_trial import manual_snapshot, manual_profile, manual_preconditions
|
||||
current_manual = manual_snapshot(profile, cap['fingerprint'])
|
||||
key=payload.get('id')
|
||||
if action in ('save','delete','trial','apply') and (type(key) is not str or re.fullmatch(r'[a-zA-Z0-9_-]{1,48}',key) is None):
|
||||
raise ValueError('Invalid saved surface identity')
|
||||
if action=='save':
|
||||
if state.trial is not None and key in (state.active,state.baseline_active):
|
||||
raise FlmOperationError('busy')
|
||||
surface=GmSurface.from_document(payload['surface'])
|
||||
if surface.profile!=cap['profile']:
|
||||
raise ValueError('Surface does not match selected controller')
|
||||
saved[key]=(payload['label'],surface)
|
||||
captured = current_manual if generated_manual is None else generated_manual
|
||||
manual_profile(captured, cap['fingerprint'], cap['basis'])
|
||||
manual[key] = captured
|
||||
state=replace(state,saved=tuple((name,label,surface) for name,(label,surface) in saved.items()), manual=tuple(manual.items()))
|
||||
elif action=='delete':
|
||||
if key in (state.active,state.baseline_active):
|
||||
raise FlmOperationError('busy')
|
||||
if key not in saved:
|
||||
raise ValueError('Unknown saved surface')
|
||||
del saved[key]
|
||||
manual.pop(key, None)
|
||||
state=replace(state,saved=tuple((name,label,surface) for name,(label,surface) in saved.items()), manual=tuple(manual.items()))
|
||||
elif action in ('trial','apply'):
|
||||
if key not in saved:
|
||||
raise ValueError('Unknown saved surface')
|
||||
if state.applied_manual is not None and current_manual != state.applied_manual:
|
||||
raise FlmOperationError('operation_changed')
|
||||
target_manual = manual.get(key, state.baseline_manual or current_manual)
|
||||
target = manual_profile(target_manual, cap['fingerprint'], cap['basis'])
|
||||
if manual_preconditions(self.params, ctx.cp, cap['controller'], target):
|
||||
raise FlmOperationError('unavailable')
|
||||
# Every switch starts from the original owned manual baseline; the saved
|
||||
# full canonical snapshot explicitly includes source/default choices.
|
||||
baseline_manual = state.baseline_manual if state.trial else current_manual
|
||||
old_flm = profile.flm
|
||||
profile = replace(target, flm=old_flm)
|
||||
state=replace(state,active=key,applied=True,trial=state.trial or secrets.token_hex(16),
|
||||
baseline_active=state.baseline_active if state.trial else state.active,
|
||||
baseline_applied=state.baseline_applied if state.trial else state.applied,
|
||||
baseline_manual=baseline_manual, applied_manual=manual_snapshot(profile,cap['fingerprint']))
|
||||
elif action in ('restore','accept'):
|
||||
if state.trial is None or payload['trial']!=state.trial:
|
||||
raise FlmOperationError('operation_changed')
|
||||
if action == 'restore' and state.baseline_manual is not None:
|
||||
if current_manual != state.applied_manual:
|
||||
# A later explicit manual edit is never silently overwritten. Keep
|
||||
# as baseline resolves this conflict without rewriting preferences.
|
||||
raise FlmOperationError('operation_changed')
|
||||
profile = replace(manual_profile(state.baseline_manual, cap['fingerprint'], cap['basis']), flm=profile.flm)
|
||||
state=replace(state,active=state.baseline_active if action=='restore' else state.active,
|
||||
applied=state.baseline_applied if action=='restore' else state.applied,
|
||||
trial=None,baseline_active=None,baseline_applied=False,baseline_manual=None,applied_manual=None)
|
||||
elif action=='record-progress':
|
||||
state=replace(state, cleanup_progress=True)
|
||||
elif action=='disable':
|
||||
state=replace(state,active=None,applied=False,trial=None,baseline_active=None,baseline_applied=False,baseline_manual=None,applied_manual=None)
|
||||
# One atomic canonical document commit owns only this selected vehicle
|
||||
# manual+surface trial; other vehicle preferences are retained unchanged.
|
||||
profiles[cap['fingerprint']]=replace(profile,flm=None if action=='reset' else state)
|
||||
encoded=serialize_document(profiles)
|
||||
def authorized():
|
||||
try:
|
||||
fresh, fresh_raw, fresh_selection, fresh_cap, _, fresh_token=self._sources()
|
||||
return (session_valid() and fresh.parked and fresh.cp_raw==ctx.cp_raw and fresh_raw==raw and
|
||||
fresh_selection==selection_raw and fresh_cap==cap and fresh_token==token)
|
||||
except FlmOperationError:
|
||||
return False
|
||||
result=commit_exact(self.params,key=DOCUMENT_KEY,max_bytes=MAX_DOCUMENT_BYTES,raw=encoded,expected=raw,
|
||||
authorized=authorized,temp_prefix='.flm-')
|
||||
if not result.committed or not result.verified:
|
||||
raise FlmOperationError('operation_changed')
|
||||
return self.snapshot()
|
||||
|
||||
|
||||
def training_context(self, token):
|
||||
from openpilot.starpilot.flm.gm_recommend import source_context
|
||||
from openpilot.starpilot.lateral.torque_settings import PlatformProfile, FieldChoice
|
||||
ctx, _, _, cap, profiles, current = self._sources()
|
||||
if not ctx.parked:
|
||||
raise FlmOperationError('not_parked')
|
||||
if token != current:
|
||||
raise FlmOperationError('operation_changed')
|
||||
profile = profiles.get(cap['fingerprint'], PlatformProfile(cap['basis'], FieldChoice(), FieldChoice()))
|
||||
return source_context(ctx.cp, cap['controller'], self.params, current, profile)
|
||||
|
||||
def save_generated(self, report, generated_id, key, label, token, *, session_valid=lambda: True):
|
||||
context = self.training_context(token)
|
||||
from openpilot.starpilot.flm.gm_recommend import same_numerical_context
|
||||
if not same_numerical_context(context, report['context']):
|
||||
raise FlmOperationError('operation_changed')
|
||||
matches = [profile for path in report['paths'] for profile in path['profiles'] if profile['id'] == generated_id]
|
||||
if len(matches) != 1 or matches[0].get('canonical') is None:
|
||||
raise ValueError('Unavailable generated trial')
|
||||
selected = matches[0]['canonical']
|
||||
return self.action({'action': 'save', 'token': token, 'id': key, 'label': label, 'surface': selected['surface']},
|
||||
generated_manual=selected['manual'], session_valid=session_valid)
|
||||
|
||||
|
||||
def record_cleanup(self, report, *, session_valid=lambda: False):
|
||||
evidence = report.get('gmEvidence')
|
||||
if evidence is None or evidence['decision']['primaryPathKey'] != 'cleanup_pass' or evidence['stats']['sampleCount'] <= 0:
|
||||
return False
|
||||
try:
|
||||
source = evidence['context']
|
||||
# This callback belongs only to an explicit Generate GM Trials operation.
|
||||
# It records original cleanup progression, never applies a tune or writes
|
||||
# any global flag. Changed source/unparked authority simply declines it.
|
||||
if self.training_context(source['sourceToken']) != source:
|
||||
return False
|
||||
self.action({'action': 'record-progress', 'token': source['sourceToken']}, session_valid=session_valid)
|
||||
return True
|
||||
except (ValueError, FlmOperationError):
|
||||
return False
|
||||
@@ -0,0 +1,131 @@
|
||||
"""Isolated, bounded local FLM analysis worker; never started by the desktop CLI."""
|
||||
|
||||
from dataclasses import asdict
|
||||
import ctypes
|
||||
import json
|
||||
import logging
|
||||
import os
|
||||
from pathlib import Path
|
||||
import resource
|
||||
import signal
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
|
||||
from openpilot.starpilot.flm.local_logs import LocalLogUnavailable, read_closed_rlog
|
||||
from openpilot.starpilot.flm.log_decode import LogDecodeError, decode_segment
|
||||
from openpilot.starpilot.flm.offline import SegmentInput, analyze_segments
|
||||
from openpilot.starpilot.galaxy.drive_history import SEGMENT_NAME
|
||||
|
||||
|
||||
MAX_REQUEST_BYTES = 32768
|
||||
MAX_REPORT_BYTES = 1024 * 1024
|
||||
LINUX_ADDRESS_SPACE_BYTES = 2 * 1024**3
|
||||
LINUX_CPU_SECONDS = 240
|
||||
|
||||
|
||||
def _emit(value: dict) -> None:
|
||||
payload = json.dumps(value, sort_keys=True, separators=(',', ':'), allow_nan=False).encode()
|
||||
if len(payload) > MAX_REPORT_BYTES:
|
||||
raise ValueError('report_limit')
|
||||
sys.stdout.buffer.write(payload + b'\n')
|
||||
sys.stdout.buffer.flush()
|
||||
|
||||
|
||||
def _limits() -> None:
|
||||
try:
|
||||
os.nice(10)
|
||||
except OSError:
|
||||
pass
|
||||
if sys.platform.startswith('linux'):
|
||||
for limit, ceiling in ((resource.RLIMIT_AS, LINUX_ADDRESS_SPACE_BYTES),
|
||||
(resource.RLIMIT_CPU, LINUX_CPU_SECONDS)):
|
||||
soft, hard = resource.getrlimit(limit)
|
||||
bounded = min([ceiling, *(value for value in (soft, hard) if value >= 0)])
|
||||
resource.setrlimit(limit, (bounded, hard))
|
||||
|
||||
|
||||
def _parent_lifeline(expected_pid: int) -> None:
|
||||
if type(expected_pid) is not int or expected_pid <= 1:
|
||||
raise ValueError('invalid parent')
|
||||
if sys.platform.startswith('linux'):
|
||||
# Set in the child, never in preexec_fn of a threaded parent. The PID
|
||||
# recheck closes the race where the parent exits before prctl completes.
|
||||
if ctypes.CDLL(None).prctl(1, signal.SIGKILL, 0, 0, 0) != 0:
|
||||
raise OSError('parent-death signal unavailable')
|
||||
if os.getppid() != expected_pid:
|
||||
raise ValueError('parent changed')
|
||||
if not sys.platform.startswith('linux'):
|
||||
def watch_parent() -> None:
|
||||
while True:
|
||||
time.sleep(0.1)
|
||||
if os.getppid() != expected_pid:
|
||||
os._exit(125)
|
||||
threading.Thread(target=watch_parent, daemon=True).start()
|
||||
|
||||
|
||||
def main() -> int:
|
||||
try:
|
||||
_limits()
|
||||
request = json.loads(sys.stdin.buffer.read(MAX_REQUEST_BYTES + 1))
|
||||
root, names = request['root'], request['segments']
|
||||
gm_context = request.get('gmContext')
|
||||
if gm_context is not None:
|
||||
from openpilot.starpilot.flm.gm_recommend import validate_context
|
||||
gm_context = validate_context(gm_context)
|
||||
elif len(json.dumps(request).encode()) > 2048:
|
||||
raise ValueError('invalid_request')
|
||||
if set(request) != {'root', 'segments', 'parentPid'} | ({'gmContext'} if gm_context is not None else set()):
|
||||
raise ValueError('invalid_request')
|
||||
_parent_lifeline(request['parentPid'])
|
||||
if (type(root) is not str or not Path(root).is_absolute() or type(names) is not list or
|
||||
not 1 <= len(names) <= 5 or any(type(name) is not str or len(name) > 180 or
|
||||
SEGMENT_NAME.fullmatch(name) is None for name in names) or
|
||||
len(set(names)) != len(names)):
|
||||
raise ValueError('invalid_request')
|
||||
selected_names = [name for name in names if type(name) is str]
|
||||
segments = []
|
||||
gm_groups = []
|
||||
for index, name in enumerate(selected_names, 1):
|
||||
source = read_closed_rlog(Path(root), name, permitted=lambda: True)
|
||||
match = SEGMENT_NAME.fullmatch(name)
|
||||
if match is None:
|
||||
raise ValueError('invalid_request')
|
||||
events = decode_segment(source.compressed, source.codec)
|
||||
analysis = analyze_segments((SegmentInput(match.group('route'), int(match.group('number')), events),),
|
||||
gm_context=gm_context, evidence=gm_groups if gm_context is not None else None)
|
||||
segments.append({'source': {'segmentName': name, 'sha256': source.sha256,
|
||||
'compressedBytes': source.size, 'codec': source.codec},
|
||||
'analysis': asdict(analysis.segments[0])})
|
||||
del source, events, analysis
|
||||
_emit({'kind': 'progress', 'processed': index})
|
||||
report = {'schemaVersion': 1, 'purpose': 'offline_tracking_diagnostics', 'segments': segments,
|
||||
'tuneRecommendation': None, 'vehicleQualification': False}
|
||||
if gm_context is not None:
|
||||
from openpilot.starpilot.flm.gm_recommend import classify_groups, build_report
|
||||
summaries, stats = classify_groups(gm_groups)
|
||||
report['purpose'] = 'gm_flm_evidence_profiles'
|
||||
report['gmEvidence'] = build_report(gm_context, summaries, stats)
|
||||
_emit({'kind': 'result', 'report': report})
|
||||
return 0
|
||||
except LocalLogUnavailable:
|
||||
logging.exception('FLM recording admission failed')
|
||||
code = 'recording_unavailable'
|
||||
except LogDecodeError:
|
||||
logging.exception('FLM recording decode failed')
|
||||
code = 'decode_failed'
|
||||
except MemoryError:
|
||||
logging.exception('FLM worker memory limit exceeded')
|
||||
code = 'resource_limit'
|
||||
except Exception:
|
||||
logging.exception('FLM worker failed')
|
||||
code = 'process_failed'
|
||||
try:
|
||||
_emit({'kind': 'error', 'code': code})
|
||||
except Exception:
|
||||
pass
|
||||
return 1
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
raise SystemExit(main())
|
||||
@@ -0,0 +1,97 @@
|
||||
"""No partial FLM segment success after corrupt compression or Cereal data."""
|
||||
|
||||
import bz2
|
||||
from unittest import mock
|
||||
|
||||
import pytest
|
||||
import zstandard as zstd
|
||||
|
||||
from openpilot.cereal import messaging
|
||||
from openpilot.starpilot.flm import log_decode
|
||||
|
||||
|
||||
def _events() -> bytes:
|
||||
first = messaging.new_message("deviceState", valid=True)
|
||||
first.logMonoTime = 101
|
||||
first.deviceState.started = True
|
||||
second = messaging.new_message("carState", valid=False)
|
||||
second.logMonoTime = 202
|
||||
return first.to_bytes() + second.to_bytes()
|
||||
|
||||
|
||||
def _compressed(raw: bytes, codec: str) -> bytes:
|
||||
return zstd.ZstdCompressor().compress(raw) if codec == "zst" else bz2.compress(raw)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("codec", ["zst", "bz2"])
|
||||
def test_complete_segment_retains_all_event_envelopes_and_timestamps(codec):
|
||||
decoded = log_decode.decode_segment(_compressed(_events(), codec), codec)
|
||||
assert len(decoded) == 2
|
||||
assert [(event.which(), event.logMonoTime, event.valid) for event in decoded] == [
|
||||
("deviceState", 101, True), ("carState", 202, False),
|
||||
]
|
||||
assert decoded[0].deviceState.started
|
||||
|
||||
|
||||
@pytest.mark.parametrize("codec", ["zst", "bz2"])
|
||||
def test_truncated_trailing_and_wrong_codec_reject_entire_segment(codec):
|
||||
source = _compressed(_events(), codec)
|
||||
for candidate in (source[:-1], source + _compressed(_events(), codec), source + b"trailing"):
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
log_decode.decode_segment(candidate, codec)
|
||||
other = "bz2" if codec == "zst" else "zst"
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
log_decode.decode_segment(source, other)
|
||||
|
||||
|
||||
def test_expansion_compressed_count_and_cereal_corruption_caps(monkeypatch):
|
||||
raw = _events()
|
||||
encoded = _compressed(raw, "zst")
|
||||
monkeypatch.setattr(log_decode, "MAX_COMPRESSED_BYTES", len(encoded) - 1)
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
log_decode.decode_segment(encoded, "zst")
|
||||
monkeypatch.setattr(log_decode, "MAX_COMPRESSED_BYTES", 32 * 1024 * 1024)
|
||||
monkeypatch.setattr(log_decode, "MAX_EXPANDED_BYTES", len(raw) - 1)
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
log_decode.decode_segment(encoded, "zst")
|
||||
monkeypatch.setattr(log_decode, "MAX_EXPANDED_BYTES", 64 * 1024 * 1024)
|
||||
monkeypatch.setattr(log_decode, "MAX_MESSAGES", 1)
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
log_decode.decode_segment(encoded, "zst")
|
||||
monkeypatch.setattr(log_decode, "MAX_MESSAGES", 250_000)
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
log_decode.decode_segment(_compressed(raw + b"not an Event", "zst"), "zst")
|
||||
|
||||
|
||||
def test_cancelled_and_wrong_input_never_return_prefix(monkeypatch):
|
||||
encoded = _compressed(_events(), "zst")
|
||||
monkeypatch.setattr(log_decode, "CHUNK_BYTES", 8)
|
||||
calls = 0
|
||||
def cancel():
|
||||
nonlocal calls
|
||||
calls += 1
|
||||
return calls > 3
|
||||
with pytest.raises(log_decode.LogDecodeError, match="cancelled"):
|
||||
log_decode.decode_segment(encoded, "zst", cancelled=cancel)
|
||||
decode = mock.Mock(wraps=log_decode.decode_segment)
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
decode(bytearray(encoded), "zst")
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
log_decode.decode_segment(encoded, "raw")
|
||||
|
||||
|
||||
def test_event_traversal_limit_rejects_whole_segment(monkeypatch):
|
||||
monkeypatch.setattr(log_decode, "EVENT_TRAVERSAL_WORDS", 1)
|
||||
with pytest.raises(log_decode.LogDecodeError, match="Cereal"):
|
||||
log_decode.decode_segment(_compressed(_events(), "zst"), "zst")
|
||||
|
||||
|
||||
@pytest.mark.parametrize("codec", ["zst", "bz2"])
|
||||
def test_filtered_retention_still_validates_entire_segment(codec):
|
||||
encoded = _compressed(_events(), codec)
|
||||
selected = log_decode.decode_segment(encoded, codec, retain=frozenset(("carState",)))
|
||||
assert [(event.which(), event.logMonoTime) for event in selected] == [("carState", 202)]
|
||||
with mock.patch.object(log_decode, "MAX_MESSAGES", 1), pytest.raises(log_decode.LogDecodeError, match="message count"):
|
||||
log_decode.decode_segment(encoded, codec, retain=frozenset())
|
||||
with pytest.raises(log_decode.LogDecodeError):
|
||||
log_decode.decode_segment(_compressed(_events() + b"not an Event", codec), codec, retain=frozenset())
|
||||
@@ -0,0 +1 @@
|
||||
"""Offline FLM tests."""
|
||||
@@ -0,0 +1,55 @@
|
||||
"""The desktop report joins real local-file admission, decompression and events."""
|
||||
|
||||
import json
|
||||
|
||||
import pytest
|
||||
import zstandard as zstd
|
||||
|
||||
from openpilot.cereal import messaging
|
||||
from openpilot.starpilot.flm import analyze
|
||||
from openpilot.starpilot.flm.local_logs import LocalLogUnavailable
|
||||
|
||||
|
||||
SEGMENT = "1234abcd--0123456789--0"
|
||||
|
||||
|
||||
def test_desktop_report_for_missing_controller_is_honest_and_source_bound(tmp_path, monkeypatch, capsys):
|
||||
monkeypatch.setattr(analyze, "PC", True)
|
||||
folder = tmp_path / SEGMENT
|
||||
folder.mkdir()
|
||||
event = messaging.new_message("carState", valid=True)
|
||||
event.logMonoTime = 100
|
||||
(folder / "rlog.zst").write_bytes(zstd.compress(event.to_bytes()))
|
||||
assert analyze.main(["--log-root", str(tmp_path.resolve()), SEGMENT]) == 0
|
||||
report = json.loads(capsys.readouterr().out)
|
||||
assert report["purpose"] == "offline_tracking_diagnostics"
|
||||
assert report["vehicleQualification"] is False and report["tuneRecommendation"] is None
|
||||
segment = report["segments"][0]
|
||||
assert segment["analysis"]["status"] == "missing_car_params"
|
||||
assert segment["analysis"]["mean_abs_error"] is None
|
||||
assert len(segment["source"]["sha256"]) == 64
|
||||
assert segment["source"]["segmentName"] == SEGMENT
|
||||
output = tmp_path / "report.json"
|
||||
args = ["--log-root", str(tmp_path.resolve()), "--output", str(output), SEGMENT]
|
||||
assert analyze.main(args) == 0
|
||||
assert json.loads(output.read_text()) == report
|
||||
original = output.read_bytes()
|
||||
assert analyze.main(args) == 1
|
||||
assert output.read_bytes() == original
|
||||
|
||||
|
||||
def test_device_duplicate_and_failed_second_segment_never_emit_partial_report(tmp_path, monkeypatch, capsys):
|
||||
monkeypatch.setattr(analyze, "PC", False)
|
||||
with pytest.raises(ValueError, match="desktop"):
|
||||
analyze.analyze_local(tmp_path.resolve(), [SEGMENT])
|
||||
monkeypatch.setattr(analyze, "PC", True)
|
||||
with pytest.raises(ValueError, match="distinct"):
|
||||
analyze.analyze_local(tmp_path.resolve(), [SEGMENT, SEGMENT])
|
||||
folder = tmp_path / SEGMENT
|
||||
folder.mkdir()
|
||||
event = messaging.new_message("carState", valid=True)
|
||||
(folder / "rlog.zst").write_bytes(zstd.compress(event.to_bytes()))
|
||||
assert analyze.main(["--log-root", str(tmp_path.resolve()), SEGMENT, "1234abcd--0123456789--1"]) == 1
|
||||
assert capsys.readouterr().out == ""
|
||||
with pytest.raises(LocalLogUnavailable):
|
||||
analyze.analyze_local(tmp_path.resolve(), [SEGMENT], cancelled=lambda: True)
|
||||
@@ -0,0 +1,225 @@
|
||||
"""Composed automatic fit application; synthetic evidence, actual owners and wire."""
|
||||
|
||||
from contextlib import contextmanager
|
||||
from dataclasses import replace
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
from pathlib import Path
|
||||
import struct
|
||||
import unittest
|
||||
from unittest import mock
|
||||
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.gm.values import CAR as GM
|
||||
from opendbc.car.hyundai.values import CAR as HKG
|
||||
from openpilot.cereal import messaging
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.selfdrive.controls.controlsd import Controls
|
||||
from openpilot.starpilot.flm.automatic import identity_digest
|
||||
from openpilot.starpilot.flm.learning_producer import AutomaticLearningProducer
|
||||
from openpilot.starpilot.flm.learning_source import (
|
||||
AutomaticLearningConsumer, MAX_AGE_NS, RESET_KEY, SERVICE, learning_payload,
|
||||
)
|
||||
from openpilot.starpilot.flm.tests import test_automatic as evidence
|
||||
from openpilot.starpilot.lateral.controller_selection import ControllerMode, DOCUMENT_KEY as CONTROLLER_KEY, policy_for, replace_mode
|
||||
from openpilot.starpilot.lateral.learning_preferences import KEY as PREFERENCE_KEY, replace_preference
|
||||
from openpilot.starpilot.lateral.tests.test_lane_runtime import feed, publish_corolla_params
|
||||
from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY as TORQUE_KEY, replace_field, serialize_document
|
||||
|
||||
NOW = 400_000_000_000
|
||||
|
||||
|
||||
def float32(value):
|
||||
"""The controller's CarParams torque fields are Float32, not Python doubles."""
|
||||
return struct.unpack('<f', struct.pack('<f', value))[0]
|
||||
|
||||
|
||||
class AbsentCollection:
|
||||
"""Only exercise the real Params/identity refresh; no fabricated pose admission."""
|
||||
def all_checks(self, _services):
|
||||
return False
|
||||
|
||||
|
||||
class JoinedLearning:
|
||||
def __init__(self, test, controls):
|
||||
self.test, self.controls = test, controls
|
||||
self.now, self.tick = NOW, 0
|
||||
self.producer = self.new_producer()
|
||||
self.last_publication = None
|
||||
self.wire_readers = []
|
||||
|
||||
def new_producer(self):
|
||||
producer = AutomaticLearningProducer(self.controls.CP, self.controls.params)
|
||||
with mock.patch('openpilot.starpilot.flm.learning_producer.time.monotonic_ns', return_value=self.now), \
|
||||
mock.patch('openpilot.starpilot.flm.learning_producer.time.clock_gettime_ns', return_value=self.now):
|
||||
producer.update(AbsentCollection(), None)
|
||||
self.test.assertEqual(producer.optional_errors, 0)
|
||||
return producer
|
||||
|
||||
def fit(self, multiplier=1.05):
|
||||
identity = self.producer.identity
|
||||
self.test.assertIsNotNone(identity)
|
||||
factor = self.controls.CP.lateralTuning.torque.latAccelFactor * multiplier
|
||||
# Reuse the independently timed, direction/speed-balanced physical evidence
|
||||
# fixture. Bind it to the real current factory identity, not a fabricated fit.
|
||||
windows = []
|
||||
for window in evidence.windows():
|
||||
points = tuple(replace(point, lateral_accel=factor * point.applied_torque +
|
||||
math.copysign(.02, point.applied_torque)) for point in window.response)
|
||||
rows = tuple(replace(row, actual_la=point.lateral_accel, desired_la=point.lateral_accel)
|
||||
for row, point in zip(window.controls, points, strict=True))
|
||||
windows.append(replace(window, identity_sha256=identity_digest(identity), controls=rows, response=points))
|
||||
self.producer.windows.extend(windows)
|
||||
self.producer.block = len(windows)
|
||||
self.producer.evaluate(self.now)
|
||||
self.test.assertIsNotNone(self.producer.result)
|
||||
return self.producer.result
|
||||
|
||||
def step(self, *, publish=True, change=None, **health):
|
||||
controls = self.controls
|
||||
feed(controls, self.now, self.tick, **health)
|
||||
if publish and self.tick % 25 == 0:
|
||||
with mock.patch('openpilot.starpilot.flm.learning_producer.time.monotonic_ns', return_value=self.now):
|
||||
event = self.producer.get_msg()
|
||||
self.test.assertIsNotNone(event)
|
||||
self.test.assertTrue(event.valid, 'The real producer must mark its usable wire valid')
|
||||
if change is not None:
|
||||
change(learning_payload(event.autoSteeringLearning))
|
||||
reader = messaging.log_from_bytes(event.to_bytes())
|
||||
self.wire_readers.append(reader)
|
||||
controls.sm.update_msgs(self.now / 1e9, [reader])
|
||||
self.last_publication = self.now
|
||||
with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=self.now):
|
||||
command, _ = controls.state_control()
|
||||
self.now += 10_000_000
|
||||
self.tick += 1
|
||||
return command
|
||||
|
||||
def drive(self, ticks, **kwargs):
|
||||
for _ in range(ticks):
|
||||
command = self.step(**kwargs)
|
||||
return command
|
||||
|
||||
|
||||
@contextmanager
|
||||
def joined(test, *, native_ack=False):
|
||||
with OpenpilotPrefix(), mock.patch.dict(os.environ, {'REPLAY': '1', 'TORQUE_REPLAY_RUNTIME': '0',
|
||||
'AOL_REPLAY_RUNTIME': '1' if native_ack else '0', 'LANE_CENTERING_REPLAY_RUNTIME': '0',
|
||||
'SIMULATION': '0'}), \
|
||||
mock.patch('openpilot.selfdrive.controls.controlsd.messaging.PubMaster'):
|
||||
params = Params()
|
||||
cp = publish_corolla_params(params)
|
||||
params.put(CONTROLLER_KEY, json.loads(replace_mode(None, cp, ControllerMode.STANDARD)), block=True)
|
||||
params.put(PREFERENCE_KEY, replace_preference(None, cp, True), block=True)
|
||||
controls = Controls()
|
||||
test.assertTrue(controls.automatic_learning.supported)
|
||||
test.assertTrue(controls.torque_learning_allowed)
|
||||
test.assertIsNone(controls.torque_host)
|
||||
yield JoinedLearning(test, controls)
|
||||
|
||||
|
||||
class TestAutomaticLearningIntegration(unittest.TestCase):
|
||||
def test_produced_fit_reaches_actual_controls_once_without_manual_document(self):
|
||||
with joined(self) as run:
|
||||
controls = run.controls
|
||||
before_cp = controls.CP.as_builder().to_bytes()
|
||||
basis = controls.CP.lateralTuning.torque
|
||||
offset, friction = basis.latAccelOffset, basis.friction
|
||||
command = run.drive(50)
|
||||
self.assertTrue(command.latActive)
|
||||
self.assertIsNone(controls.torque_host, 'Collecting alone must not instantiate an application owner')
|
||||
result = run.fit()
|
||||
self.assertEqual(result.status, 'qualified_fit')
|
||||
native_factor = controls.LaC.torque_params.latAccelFactor
|
||||
command = run.drive(100)
|
||||
self.assertTrue(controls.sm.all_checks([SERVICE]))
|
||||
self.assertFalse(controls.sm.simulation, 'Exercise actual frequency tracking, not simulation relaxation')
|
||||
host = controls.torque_host
|
||||
self.assertIsNotNone(host)
|
||||
self.assertIs(host.applied_controller, controls.LaC)
|
||||
self.assertGreater(controls.LaC.torque_params.latAccelFactor, native_factor)
|
||||
self.assertEqual(controls.LaC.torque_params.latAccelFactor, float32(dict(result.candidate)['latAccelFactor']))
|
||||
self.assertEqual(controls.LaC.torque_params.latAccelOffset, offset)
|
||||
self.assertEqual(controls.LaC.torque_params.friction, friction)
|
||||
self.assertEqual(controls.CP.as_builder().to_bytes(), before_cp)
|
||||
self.assertIsNone(controls.params.get(TORQUE_KEY))
|
||||
self.assertTrue(command.latActive)
|
||||
run.drive(30)
|
||||
self.assertIs(controls.torque_host, host, 'One controller parameter writer must survive subsequent publications')
|
||||
|
||||
def test_actual_application_expires_and_reset_restart_or_manual_choice_falls_back(self):
|
||||
for reason in ('stale', 'restart', 'off', 'corrupt', 'reset', 'manual'):
|
||||
with self.subTest(reason=reason), joined(self) as run:
|
||||
controls = run.controls
|
||||
self.assertEqual(run.fit().status, 'qualified_fit')
|
||||
run.drive(100)
|
||||
host = controls.torque_host
|
||||
self.assertIsNotNone(host)
|
||||
base = controls.CP.lateralTuning.torque.latAccelFactor
|
||||
self.assertGreater(controls.LaC.torque_params.latAccelFactor, base)
|
||||
if reason == 'restart':
|
||||
previous_session = run.producer.session
|
||||
run.producer = run.new_producer()
|
||||
self.assertNotEqual(run.producer.session, previous_session)
|
||||
self.assertIsNone(run.producer.result)
|
||||
elif reason == 'off':
|
||||
controls.params.put(PREFERENCE_KEY, replace_preference(None, controls.CP, False), block=True)
|
||||
elif reason == 'corrupt':
|
||||
Path(controls.params.get_param_path(PREFERENCE_KEY)).write_bytes(b'malformed')
|
||||
elif reason == 'reset':
|
||||
controls.params.put(RESET_KEY, 'a' * 32, block=True)
|
||||
elif reason == 'manual':
|
||||
basis = controls.CP.lateralTuning.torque
|
||||
profile = replace_field({}, str(controls.CP.carFingerprint),
|
||||
(basis.latAccelFactor, basis.latAccelOffset, basis.friction), 'factor', 'custom', base * 1.2)
|
||||
controls.params.put(TORQUE_KEY, json.loads(serialize_document(profile)), block=True)
|
||||
command = run.drive(220, publish=reason != 'stale')
|
||||
if reason == 'stale':
|
||||
self.assertGreater(run.now - run.last_publication, MAX_AGE_NS)
|
||||
self.assertTrue(command.latActive, 'Learning source loss must not manufacture a driving fault')
|
||||
self.assertIs(controls.torque_host, host)
|
||||
self.assertEqual(controls.LaC.torque_params.latAccelFactor, float32(base * (1.2 if reason == 'manual' else 1.)))
|
||||
self.assertEqual(host.selected.source.value, 'user' if reason == 'manual' else host.native_base.source.value)
|
||||
if reason in ('reset', 'off', 'corrupt', 'manual'):
|
||||
run.producer = run.new_producer()
|
||||
self.assertIsNone(run.producer.result, 'Changed saved identity cannot recover an earlier process fit')
|
||||
if reason in ('off', 'corrupt', 'manual'):
|
||||
self.assertIsNone(run.producer.identity)
|
||||
|
||||
def test_real_controller_bounds_and_authority_are_independent_of_qualified_wire(self):
|
||||
with joined(self, native_ack=True) as run:
|
||||
controls = run.controls
|
||||
before_cp = controls.CP.as_builder().to_bytes()
|
||||
self.assertEqual(run.fit().status, 'qualified_fit')
|
||||
commands = [run.step() for _ in range(100)]
|
||||
self.assertIsNotNone(controls.torque_host)
|
||||
self.assertTrue(all(math.isfinite(command.actuators.torque) and
|
||||
abs(command.actuators.torque) <= controls.LaC.steer_max for command in commands))
|
||||
for health in ({'native_allowed': False}, {'can_valid': False}, {'can_timeout': True}, {'fault': True},
|
||||
{'active': False, 'enabled': False}):
|
||||
command = run.step(**health)
|
||||
self.assertFalse(command.latActive)
|
||||
self.assertEqual(command.actuators.torque, 0.)
|
||||
self.assertEqual(controls.LaC.pid.i, 0.)
|
||||
# A qualified sender cannot escape consumer factor or identity admission.
|
||||
for field, value in (('latAccelFactor', float('nan')), ('latAccelFactor', 100.), ('acceptancePolicyId', 'unknown')):
|
||||
while run.tick % 25:
|
||||
run.step()
|
||||
command = run.step(change=lambda state, key=field, new=value: setattr(state, key, new))
|
||||
self.assertEqual(controls.torque_host.selected, controls.torque_host.native_base)
|
||||
self.assertTrue(math.isfinite(command.actuators.torque))
|
||||
self.assertEqual(controls.CP.as_builder().to_bytes(), before_cp, 'Automatic fitting must never change native safety configuration')
|
||||
for vehicle, mode in ((HKG.HYUNDAI_IONIQ_6, ControllerMode.STARPILOT),
|
||||
(GM.CHEVROLET_SILVERADO, ControllerMode.STANDARD)):
|
||||
with self.subTest(vehicle=vehicle), OpenpilotPrefix():
|
||||
cp = interfaces[vehicle].get_non_essential_params(vehicle)
|
||||
params = Params()
|
||||
if policy_for(cp) is not None:
|
||||
params.put(CONTROLLER_KEY, json.loads(replace_mode(None, cp, mode)), block=True)
|
||||
else:
|
||||
self.assertIsNone(params.get(CONTROLLER_KEY))
|
||||
params.put(PREFERENCE_KEY, replace_preference(None, cp, True), block=True)
|
||||
consumer = AutomaticLearningConsumer(cp, interfaces[vehicle](cp), mode, params)
|
||||
self.assertFalse(consumer.supported, 'Saved On cannot qualify a rich or fixed custom conversion')
|
||||
@@ -0,0 +1,194 @@
|
||||
"""Historical CarParams wire stays readable and cannot masquerade as a fit."""
|
||||
|
||||
from contextlib import contextmanager
|
||||
from pathlib import Path
|
||||
from tempfile import TemporaryDirectory
|
||||
import unittest
|
||||
from unittest import mock
|
||||
|
||||
import capnp
|
||||
|
||||
from openpilot.cereal import custom, log, messaging
|
||||
from openpilot.starpilot.flm.learning_source import SERVICE
|
||||
from openpilot.starpilot.flm.tests import test_automatic_integration as integration
|
||||
from tools.ci.custom_schema_contract import describe, validate
|
||||
|
||||
# Exact occupied prefix from c2109496a72e85ca702ecef7aff53ff45adcfb8c,
|
||||
# cereal/custom.capnp. No learner pointer existed in these recordings.
|
||||
HISTORICAL_CAR_PARAMS = """@0xb526ba661d550a59;
|
||||
struct StarPilotCarParams @0xaedffd8f31e7b55d {
|
||||
alternativeExperience @0 :Int16;
|
||||
canUsePedal @1 :Bool;
|
||||
canUseSDSU @2 :Bool;
|
||||
flags @3 :UInt32;
|
||||
isHDA2 @4 :Bool;
|
||||
openpilotLongitudinalControlDisabled @5 :Bool;
|
||||
safetyConfigs @6 :List(SafetyConfig);
|
||||
pcmCruiseSpeed @7 :Bool = true;
|
||||
redneckCruiseAvailable @8 :Bool;
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyParam @0 :UInt16;
|
||||
}
|
||||
}
|
||||
"""
|
||||
|
||||
|
||||
# Exact transient c204 payload: incompatible with the older occupied prefix.
|
||||
TRANSIENT_FLAT_LEARNER = """@0xb526ba661d550a59;
|
||||
struct AutoSteeringLearning @0xaedffd8f31e7b55d {
|
||||
version @0 :UInt16;
|
||||
status @1 :Status;
|
||||
reason @2 :Text;
|
||||
identity @3 :Identity;
|
||||
session @4 :Text;
|
||||
sequence @5 :UInt64;
|
||||
observedMonoTime @6 :UInt64; # MONOTONIC, separate from Event BOOTTIME.
|
||||
validUntilMonoTime @7 :UInt64;
|
||||
sourceWindowStartMonoTime @8 :UInt64;
|
||||
sourceWindowEndMonoTime @9 :UInt64;
|
||||
family @10 :Family;
|
||||
latAccelFactor @11 :Float64;
|
||||
acceptancePolicyId @12 :Text;
|
||||
trainWindows @13 :UInt32;
|
||||
heldoutWindows @14 :UInt32;
|
||||
trainBaselineLoss @15 :Float64;
|
||||
trainCandidateLoss @16 :Float64;
|
||||
heldoutBaselineLoss @17 :Float64;
|
||||
heldoutCandidateLoss @18 :Float64;
|
||||
|
||||
enum Status { unavailable @0; collecting @1; candidate @2; rejected @3; qualifiedFit @4; }
|
||||
enum Family { none @0; linearFactor @1; }
|
||||
struct Identity {
|
||||
vehicle @0 :Text;
|
||||
brand @1 :Text;
|
||||
controller @2 :Text;
|
||||
policy @3 :Text;
|
||||
profile @4 :Text;
|
||||
conversionVersion @5 :Text;
|
||||
firmwareSha256 @6 :Text;
|
||||
basis @7 :List(Float64);
|
||||
baselineSha256 @8 :Text;
|
||||
preferenceSha256 @9 :Text;
|
||||
resetGeneration @10 :Text;
|
||||
controllerRevision @11 :Text;
|
||||
}
|
||||
}
|
||||
"""
|
||||
|
||||
|
||||
@contextmanager
|
||||
def historical_car_params(source=HISTORICAL_CAR_PARAMS):
|
||||
with TemporaryDirectory() as directory:
|
||||
path = Path(directory) / 'historical.capnp'
|
||||
path.write_text(source)
|
||||
yield capnp.SchemaParser().load(str(path))
|
||||
|
||||
|
||||
class TestAutomaticLearningWire(unittest.TestCase):
|
||||
def test_historical_car_params_prefix_defaults_and_nested_layout_survive(self):
|
||||
with historical_car_params() as historical:
|
||||
old_layout = describe(historical, ['StarPilotCarParams'])
|
||||
current_layout = describe(custom, ['StarPilotCarParams'])
|
||||
self.assertEqual(validate(current_layout, old_layout), [])
|
||||
self.assertEqual(set(old_layout['nodes'][str(0xaedffd8f31e7b55d)]['fields']),
|
||||
{str(i) for i in range(9)})
|
||||
field = log.Event.schema.fields[SERVICE].proto
|
||||
self.assertEqual(field.ordinal.explicit, 108)
|
||||
self.assertEqual(field.slot.type.struct.typeId, 0xaedffd8f31e7b55d)
|
||||
self.assertEqual(custom.StarPilotCarParams.schema.fields['learning'].proto.ordinal.explicit, 9)
|
||||
values = {'alternativeExperience': -123, 'canUsePedal': True, 'canUseSDSU': True,
|
||||
'flags': 0xa5a51234, 'isHDA2': True, 'openpilotLongitudinalControlDisabled': True,
|
||||
'safetyConfigs': [{'safetyParam': 0x5a5a}, {'safetyParam': 0xffff}],
|
||||
'pcmCruiseSpeed': False, 'redneckCruiseAvailable': True}
|
||||
old = historical.StarPilotCarParams.new_message(**values)
|
||||
with custom.StarPilotCarParams.from_bytes(old.to_bytes()) as current:
|
||||
self.assertEqual({key: value for key, value in current.to_dict().items() if key != 'learning'}, values)
|
||||
self.assertEqual(current.learning.version, 0)
|
||||
self.assertEqual(str(current.learning.status), 'unavailable')
|
||||
self.assertEqual(current.learning.session, '')
|
||||
self.assertEqual(current.learning.latAccelFactor, 0.)
|
||||
with custom.StarPilotCarParams.from_bytes(historical.StarPilotCarParams.new_message().to_bytes()) as defaults:
|
||||
self.assertTrue(defaults.pcmCruiseSpeed)
|
||||
self.assertEqual(defaults.learning.version, 0)
|
||||
new = custom.StarPilotCarParams.new_message(**values)
|
||||
new.learning.version = 1
|
||||
new.learning.status = 'qualifiedFit'
|
||||
new.learning.latAccelFactor = 3.25
|
||||
with historical.StarPilotCarParams.from_bytes(new.to_bytes()) as prior:
|
||||
self.assertEqual(prior.to_dict(), values)
|
||||
|
||||
def test_real_controls_treats_valid_historical_payload_as_absent_learning(self):
|
||||
with historical_car_params() as historical, integration.joined(self) as run:
|
||||
controls = run.controls
|
||||
cp_before = controls.CP.as_builder().to_bytes()
|
||||
native_factor = controls.LaC.torque_params.latAccelFactor
|
||||
old = historical.StarPilotCarParams.new_message(
|
||||
alternativeExperience=123, flags=0xffffffff, canUsePedal=True,
|
||||
safetyConfigs=[{'safetyParam': 65535}], redneckCruiseAvailable=True)
|
||||
old_bytes = old.to_bytes()
|
||||
readers = []
|
||||
for tick in range(100):
|
||||
now = integration.NOW + tick * 10_000_000
|
||||
integration.feed(controls, now, tick)
|
||||
if tick % 25 == 0:
|
||||
event = messaging.new_message(SERVICE, valid=True)
|
||||
with custom.StarPilotCarParams.from_bytes(old_bytes) as envelope:
|
||||
event.autoSteeringLearning = envelope
|
||||
reader = messaging.log_from_bytes(event.to_bytes())
|
||||
readers.append(reader)
|
||||
controls.sm.update_msgs(now / 1e9, [reader])
|
||||
with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=now):
|
||||
command, _ = controls.state_control()
|
||||
self.assertTrue(command.latActive)
|
||||
self.assertIsNone(controls.torque_host)
|
||||
self.assertIsNone(controls.automatic_learning.result)
|
||||
self.assertEqual(controls.LaC.torque_params.latAccelFactor, native_factor)
|
||||
self.assertTrue(controls.sm.all_checks([SERVICE]))
|
||||
self.assertFalse(controls.sm.simulation)
|
||||
self.assertEqual(len(readers), 4)
|
||||
self.assertEqual(controls.automatic_learning.session, '')
|
||||
self.assertEqual(controls.CP.as_builder().to_bytes(), cp_before)
|
||||
|
||||
def test_transient_flat_learner_bytes_cannot_be_admitted_as_nested_fit(self):
|
||||
with historical_car_params(TRANSIENT_FLAT_LEARNER) as historical, integration.joined(self) as run:
|
||||
controls = run.controls
|
||||
cp_before = controls.CP.as_builder().to_bytes()
|
||||
native_factor = controls.LaC.torque_params.latAccelFactor
|
||||
identity = run.producer.identity
|
||||
self.assertIsNotNone(identity)
|
||||
old = historical.AutoSteeringLearning.new_message(
|
||||
version=1, status='qualifiedFit', identity=identity, session='transient-c204', sequence=1,
|
||||
observedMonoTime=integration.NOW, validUntilMonoTime=integration.NOW + 500_000_000,
|
||||
sourceWindowStartMonoTime=integration.NOW - 10_000_000_000,
|
||||
sourceWindowEndMonoTime=integration.NOW - 1_000_000_000,
|
||||
family='linearFactor', latAccelFactor=native_factor * 1.05,
|
||||
acceptancePolicyId=next(iter(controls.automatic_learning.policies)),
|
||||
trainWindows=10, heldoutWindows=8, trainBaselineLoss=.1, trainCandidateLoss=.09,
|
||||
heldoutBaselineLoss=.1, heldoutCandidateLoss=.09)
|
||||
# Use the genuinely admitted policy, so only the changed wire layout denies the fit.
|
||||
self.assertEqual(str(old.status), 'qualifiedFit')
|
||||
self.assertEqual(old.identity.to_dict(), identity)
|
||||
old_bytes = old.to_bytes()
|
||||
readers = []
|
||||
for tick in range(50):
|
||||
now = integration.NOW + tick * 10_000_000
|
||||
integration.feed(controls, now, tick)
|
||||
if tick % 25 == 0:
|
||||
event = messaging.new_message(SERVICE, valid=True)
|
||||
with custom.StarPilotCarParams.from_bytes(old_bytes) as envelope:
|
||||
self.assertEqual(envelope.learning.version, 0)
|
||||
event.autoSteeringLearning = envelope
|
||||
reader = messaging.log_from_bytes(event.to_bytes())
|
||||
readers.append(reader)
|
||||
controls.sm.update_msgs(now / 1e9, [reader])
|
||||
with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=now):
|
||||
command, _ = controls.state_control()
|
||||
self.assertTrue(command.latActive)
|
||||
self.assertIsNone(controls.torque_host)
|
||||
self.assertIsNone(controls.automatic_learning.result)
|
||||
self.assertEqual(controls.LaC.torque_params.latAccelFactor, native_factor)
|
||||
self.assertTrue(controls.sm.all_checks([SERVICE]))
|
||||
self.assertEqual(len(readers), 2)
|
||||
self.assertEqual(controls.automatic_learning.session, '')
|
||||
self.assertEqual(controls.CP.as_builder().to_bytes(), cp_before)
|
||||
@@ -0,0 +1,224 @@
|
||||
"""Replay-only Ioniq 6 FLM controller seam; no production profile selection."""
|
||||
|
||||
import json
|
||||
from pathlib import Path
|
||||
from types import SimpleNamespace
|
||||
import unittest
|
||||
|
||||
from opendbc.car import structs, scale_rot_inertia, scale_tire_stiffness
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.hyundai.values import CAR as HYUNDAI
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from openpilot.starpilot.lateral.torque_extension import selected_policy
|
||||
from openpilot.starpilot.flm.torque_surface import Ioniq6Surface
|
||||
from openpilot.starpilot.lateral.ioniq6_policy import Ioniq6TorquePolicy
|
||||
|
||||
|
||||
# Independently generated from frozen 678af783 LatControlTorque and Ioniq helpers.
|
||||
# Full controller/PID/filter rows include the recorded symmetric-unwind correction.
|
||||
_GOLDEN = json.loads((Path(__file__).parent / "testdata" / "ioniq6_controller_replay.json").read_text())
|
||||
_EXTENDED = json.loads((Path(__file__).parent / "testdata" / "ioniq6_controller_extended.json").read_text())
|
||||
_LIVE = json.loads((Path(__file__).parent / "testdata" / "ioniq6_controller_live_update.json").read_text())
|
||||
_TUNED_KNOBS = {"ff_gain_left": 0.30, "ff_gain_right": 0.12,
|
||||
"turn_in_boost_left": 2.20, "unwind_taper_right": 10.0,
|
||||
"center_taper_max": 0.16, "center_deadband_low_deg": 0.1,
|
||||
"low_speed_angle_assist_max_torque": 0.7}
|
||||
|
||||
|
||||
def _params(*, firmware_2025=False):
|
||||
car = HYUNDAI.HYUNDAI_IONIQ_6
|
||||
cp = interfaces[car].get_non_essential_params(car)
|
||||
for name, value in (("mass", 2084.0), ("wheelbase", 2.97), ("centerToFront", 1.188),
|
||||
("steerRatio", 14.26), ("tireStiffnessFactor", 0.65)):
|
||||
setattr(cp, name, value)
|
||||
cp.rotationalInertia = scale_rot_inertia(cp.mass, cp.wheelbase)
|
||||
cp.tireStiffnessFront, cp.tireStiffnessRear = scale_tire_stiffness(
|
||||
cp.mass, cp.wheelbase, cp.centerToFront, cp.tireStiffnessFactor)
|
||||
cp.lateralTuning.torque.latAccelFactor = 3.0
|
||||
cp.lateralTuning.torque.latAccelOffset = 0.0
|
||||
cp.lateralTuning.torque.friction = 0.09
|
||||
cp.lateralTuning.torque.steeringAngleDeadzoneDeg = 0.0
|
||||
if firmware_2025:
|
||||
versions = cp.init("carFw", 2)
|
||||
versions[0].fwVersion = b"IONIQ6-230915"
|
||||
versions[1].fwVersion = b"IONIQ6-240206"
|
||||
return cp
|
||||
|
||||
|
||||
def _controller(cp, surface=None, *, original_constructor_context=False):
|
||||
controller = LatControlTorque(cp.as_reader(), interfaces[HYUNDAI.HYUNDAI_IONIQ_6](cp), DT_CTRL, turn_assist=True)
|
||||
if surface is not None:
|
||||
# Replace before the first update. The production constructor always uses None.
|
||||
controller.starpilot_extension.policy = Ioniq6TorquePolicy(controller, cp.as_reader(), surface=surface, turn_assist=True)
|
||||
if original_constructor_context:
|
||||
controller.hkg_canfd_torque = False
|
||||
# These frozen vectors invoke the original constructor directly. Dom
|
||||
# controlsd replaces this curve with the saved/default flat gain each tick;
|
||||
# this is not a drive-loop replay. Preserve its gain curve and raw-CP startup limits.
|
||||
controller.pid._k_p = [[1, 1.5, 2., 3., 5, 7.5, 10, 15, 30],
|
||||
[250, 120, 65, 30, 11.5, 5.5, 3.5, 2., .6]]
|
||||
controller.pid.set_limits(controller.lateral_accel_from_torque(controller.steer_max, cp.lateralTuning.torque),
|
||||
controller.lateral_accel_from_torque(-controller.steer_max, cp.lateralTuning.torque))
|
||||
return controller
|
||||
|
||||
|
||||
def _assert_rows(test, actual, expected):
|
||||
for row, reference in zip(actual, expected, strict=True):
|
||||
for value, frozen in zip(row, reference, strict=True):
|
||||
test.assertAlmostEqual(value, frozen, places=8)
|
||||
|
||||
|
||||
def _trace(controller, cp, sequence):
|
||||
vm = VehicleModel(cp)
|
||||
cs = structs.CarState.new_message()
|
||||
cs.gearShifter = structs.CarState.GearShifter.drive
|
||||
params = SimpleNamespace(angleOffsetDeg=0.0, roll=0.03)
|
||||
rows = []
|
||||
for active, speed, angle, curvature, pressed, limited in sequence:
|
||||
cs.vEgo = speed
|
||||
cs.steeringAngleDeg = angle
|
||||
cs.steeringPressed = pressed
|
||||
torque, _, state = controller.update(active, cs, vm, params, limited, curvature, limited, 0.1)
|
||||
rows.append((torque, state.desiredLateralAccel, state.desiredLateralJerk,
|
||||
state.p, state.i, state.f, selected_policy(controller).directional_taper_filter.x))
|
||||
return rows
|
||||
|
||||
|
||||
SEQUENCE = (
|
||||
[(False, 0.3, 10.0, -0.001, False, False)] * 2 +
|
||||
[(True, 0.3, 10.0, -0.001, False, False)] * 4 +
|
||||
[(True, 3.0, 8.0, -0.001, False, False)] * 4 +
|
||||
[(True, 14.0, -3.0, 0.0004, False, False)] * 5 +
|
||||
[(True, 27.0, -2.0, -0.0003, False, True)] * 4 +
|
||||
[(True, 14.0, -3.0, 0.0004, True, False)] * 2 +
|
||||
[(True, 14.0, -3.0, 0.0004, False, False)] * 3 +
|
||||
[(False, 0.0, 8.0, -0.001, False, False)] * 2 +
|
||||
[(True, 3.0, 8.0, -0.001, False, False)] * 4
|
||||
)
|
||||
|
||||
|
||||
class TestIoniq6ControllerReplay(unittest.TestCase):
|
||||
def test_frozen_stateful_controller_trace(self):
|
||||
self.assertEqual(_GOLDEN["sourceCommit"], "678af783")
|
||||
self.assertEqual(_GOLDEN["controllerSha256"], "3561d5ac43a72f9b68bc9e44042b8f5cbdca406dec940e7648c64607862a60f7")
|
||||
self.assertEqual(_GOLDEN["fields"], ["output", "desiredLateralAccel", "desiredLateralJerk", "p", "i", "f", "directionalFilter"])
|
||||
for firmware, fw in (("2023", False), ("2025", True)):
|
||||
for mode in ("default", "tuned"):
|
||||
with self.subTest(firmware=firmware, mode=mode):
|
||||
cp = _params(firmware_2025=fw)
|
||||
surface = Ioniq6Surface.validated("firmware_2025" if fw else "standard", _TUNED_KNOBS) if mode == "tuned" else None
|
||||
actual = _trace(_controller(cp, surface, original_constructor_context=True), cp, SEQUENCE)
|
||||
expected = _GOLDEN["cases"][f"{firmware}_{mode}"]
|
||||
_assert_rows(self, actual, expected)
|
||||
|
||||
def test_extended_frozen_filter_limit_override_and_reset_trace(self):
|
||||
self.assertEqual(_EXTENDED["sourceCommit"], "678af783")
|
||||
self.assertEqual(_EXTENDED["controllerSha256"], _GOLDEN["controllerSha256"])
|
||||
self.assertEqual(_EXTENDED["inputFields"], ["active", "speed", "angle", "curvature", "pressed", "limited"])
|
||||
self.assertEqual(_EXTENDED["outputFields"], _GOLDEN["fields"])
|
||||
sequence = _EXTENDED["sequence"]
|
||||
self.assertEqual(len(sequence), 154)
|
||||
self.assertTrue(any(not row[0] for row in sequence))
|
||||
self.assertTrue(any(row[4] for row in sequence))
|
||||
self.assertTrue(any(row[5] for row in sequence))
|
||||
for firmware, fw in (("2023", False), ("2025", True)):
|
||||
for mode in ("default", "tuned"):
|
||||
with self.subTest(firmware=firmware, mode=mode):
|
||||
cp = _params(firmware_2025=fw)
|
||||
surface = Ioniq6Surface.validated("firmware_2025" if fw else "standard", _TUNED_KNOBS) if mode == "tuned" else None
|
||||
actual = _trace(_controller(cp, surface, original_constructor_context=True), cp, sequence)
|
||||
expected = _EXTENDED["cases"][f"{firmware}_{mode}"]
|
||||
_assert_rows(self, actual, expected)
|
||||
|
||||
def test_actual_torque_parameter_update_recalculates_frozen_pid_limits(self):
|
||||
self.assertEqual(_LIVE["sourceControllerSha256"], _GOLDEN["controllerSha256"])
|
||||
self.assertEqual(_LIVE["fields"], _GOLDEN["fields"])
|
||||
for firmware, fw in (("2023", False), ("2025", True)):
|
||||
for mode in ("default", "tuned"):
|
||||
with self.subTest(firmware=firmware, mode=mode):
|
||||
cp = _params(firmware_2025=fw)
|
||||
surface = Ioniq6Surface.validated("firmware_2025" if fw else "standard", _TUNED_KNOBS) if mode == "tuned" else None
|
||||
controller = _controller(cp, surface, original_constructor_context=True)
|
||||
expected = _LIVE["cases"][f"{firmware}_{mode}"]
|
||||
self.assertAlmostEqual(controller.pid.pos_limit, expected["before"]["posLimit"], places=8)
|
||||
self.assertAlmostEqual(controller.pid.neg_limit, expected["before"]["negLimit"], places=8)
|
||||
controller.update_torque_parameters(3.0, 0.0, 0.09)
|
||||
self.assertAlmostEqual(controller.pid.pos_limit, expected["after"]["posLimit"], places=8)
|
||||
self.assertAlmostEqual(controller.pid.neg_limit, expected["after"]["negLimit"], places=8)
|
||||
actual = _trace(controller, cp, _EXTENDED["sequence"])
|
||||
_assert_rows(self, actual, expected["rows"])
|
||||
|
||||
def test_current_startup_and_equal_live_update_use_compensated_limits(self):
|
||||
for firmware, fw in (("2023", False), ("2025", True)):
|
||||
for mode in ("default", "tuned"):
|
||||
with self.subTest(firmware=firmware, mode=mode):
|
||||
cp = _params(firmware_2025=fw)
|
||||
surface = Ioniq6Surface.validated("firmware_2025" if fw else "standard", _TUNED_KNOBS) if mode == "tuned" else None
|
||||
controller = _controller(cp, surface)
|
||||
self.assertAlmostEqual(controller.torque_params.latAccelFactor, 3.0 * 1.22, places=6)
|
||||
limits = (controller.pid.pos_limit, controller.pid.neg_limit)
|
||||
self.assertEqual(limits, (controller.torque_params.latAccelFactor, -controller.torque_params.latAccelFactor))
|
||||
for sign in (-1, 1):
|
||||
controller.pid.reset()
|
||||
accel = controller.pid.update(0., feedforward=sign * 100., freeze_integrator=True)
|
||||
self.assertEqual(accel, sign * controller.torque_params.latAccelFactor)
|
||||
controller.update_torque_parameters(3.0, 0.0, 0.09)
|
||||
self.assertEqual((controller.pid.pos_limit, controller.pid.neg_limit), limits)
|
||||
|
||||
def test_curvature_delay_scales_at_current_speed_without_spurious_unwind(self):
|
||||
cp = _params()
|
||||
controller = _controller(cp)
|
||||
sequence = [(True, 10., 0., .001, False, False)] * 30 + [(True, 20., 0., .001, False, False)] * 20
|
||||
actual = _trace(controller, cp, sequence)
|
||||
alpha = selected_policy(controller).jerk_filter.alpha
|
||||
self.assertAlmostEqual(actual[30][2], actual[29][2] * (1.0 - alpha), places=8)
|
||||
|
||||
def test_replay_surface_is_immutable_session_choice_and_neutral_matches_default(self):
|
||||
for variant, fw in (("standard", False), ("firmware_2025", True)):
|
||||
with self.subTest(variant=variant):
|
||||
cp = _params(firmware_2025=fw)
|
||||
original = _controller(cp)
|
||||
neutral = _controller(cp, Ioniq6Surface.validated(variant, {}))
|
||||
default_rows = _trace(original, cp, SEQUENCE)
|
||||
neutral_rows = _trace(neutral, cp, SEQUENCE)
|
||||
for row, expected in zip(neutral_rows, default_rows, strict=True):
|
||||
for value, reference in zip(row, expected, strict=True):
|
||||
self.assertAlmostEqual(value, reference, places=10)
|
||||
self.assertEqual(selected_policy(original).surface, None)
|
||||
self.assertEqual(selected_policy(neutral).surface.variant, variant)
|
||||
|
||||
def test_tuned_surface_changes_shaping_but_reset_is_deterministic(self):
|
||||
for variant, fw in (("standard", False), ("firmware_2025", True)):
|
||||
with self.subTest(variant=variant):
|
||||
cp = _params(firmware_2025=fw)
|
||||
surface = Ioniq6Surface.validated(variant, _TUNED_KNOBS)
|
||||
baseline = _trace(_controller(cp), cp, SEQUENCE)
|
||||
tuned = _trace(_controller(cp, surface), cp, SEQUENCE)
|
||||
repeated = _trace(_controller(cp, surface), cp, SEQUENCE)
|
||||
self.assertEqual(tuned, repeated)
|
||||
self.assertTrue(any(abs(row[0] - base[0]) > 1e-7 for row, base in zip(tuned, baseline, strict=True)))
|
||||
self.assertEqual(tuned[0][0], 0.0)
|
||||
self.assertEqual(tuned[-5][0], 0.0) # inactive reset frame
|
||||
|
||||
def test_invalid_surface_rejected_before_parent_mutation(self):
|
||||
cp = _params()
|
||||
parent = _controller(cp)
|
||||
original = (parent.pid, parent.torque_params.latAccelFactor, selected_policy(parent))
|
||||
with self.assertRaises(ValueError):
|
||||
Ioniq6TorquePolicy(parent, cp.as_reader(), surface=Ioniq6Surface.validated("firmware_2025", {}))
|
||||
self.assertIs(parent.pid, original[0])
|
||||
self.assertEqual(parent.torque_params.latAccelFactor, original[1])
|
||||
self.assertIs(selected_policy(parent), original[2])
|
||||
with self.assertRaises(ValueError):
|
||||
Ioniq6TorquePolicy(parent, cp.as_reader(), surface=object())
|
||||
other = interfaces[TOYOTA.TOYOTA_COROLLA_TSS2].get_non_essential_params(TOYOTA.TOYOTA_COROLLA_TSS2)
|
||||
with self.assertRaises(ValueError):
|
||||
Ioniq6TorquePolicy(parent, other.as_reader(), surface=Ioniq6Surface.validated("standard", {}))
|
||||
self.assertIs(parent.pid, original[0])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -0,0 +1,101 @@
|
||||
"""Local FLM input admission uses disposable recordings and never remote routes."""
|
||||
|
||||
import hashlib
|
||||
import os
|
||||
from unittest.mock import patch
|
||||
|
||||
import pytest
|
||||
|
||||
from openpilot.starpilot.flm.local_logs import LocalLogUnavailable, read_closed_rlog
|
||||
|
||||
|
||||
SEGMENT = "1234abcd--0123456789--0"
|
||||
|
||||
|
||||
def recording(tmp_path, name="rlog.zst"):
|
||||
root = tmp_path.resolve()
|
||||
folder = root / SEGMENT
|
||||
folder.mkdir()
|
||||
path = folder / name
|
||||
path.write_bytes(b"immutable compressed fixture")
|
||||
return root, path
|
||||
|
||||
|
||||
def test_receipt_binds_exact_bytes_and_requires_full_log(tmp_path):
|
||||
root, path = recording(tmp_path)
|
||||
result = read_closed_rlog(root, SEGMENT, permitted=lambda: True)
|
||||
assert result.compressed == path.read_bytes()
|
||||
assert result.sha256 == hashlib.sha256(result.compressed).hexdigest()
|
||||
assert result.codec == "zst" and result.size == len(result.compressed)
|
||||
path.rename(path.with_name("qlog.zst"))
|
||||
with pytest.raises(LocalLogUnavailable, match="full rlog"):
|
||||
read_closed_rlog(root, SEGMENT, permitted=lambda: True)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("name", ("rlog.lock", "writer.lock"))
|
||||
def test_open_segment_is_not_analyzed(tmp_path, name):
|
||||
root, path = recording(tmp_path)
|
||||
path.with_name(name).touch()
|
||||
with pytest.raises(LocalLogUnavailable, match="open"):
|
||||
read_closed_rlog(root, SEGMENT, permitted=lambda: True)
|
||||
|
||||
|
||||
def test_symlink_fifo_ambiguous_and_outside_selection_refused(tmp_path):
|
||||
root, path = recording(tmp_path)
|
||||
for selection in ("../" + SEGMENT, "/" + SEGMENT, SEGMENT + "/rlog.zst", "https://example.com/log"):
|
||||
with pytest.raises(LocalLogUnavailable):
|
||||
read_closed_rlog(root, selection, permitted=lambda: True)
|
||||
path.with_name("rlog.bz2").write_bytes(b"ambiguous")
|
||||
with pytest.raises(LocalLogUnavailable):
|
||||
read_closed_rlog(root, SEGMENT, permitted=lambda: True)
|
||||
path.with_name("rlog.bz2").unlink()
|
||||
path.unlink()
|
||||
external = root / "external"
|
||||
external.write_bytes(b"not a selected recording")
|
||||
path.symlink_to(external)
|
||||
with pytest.raises(LocalLogUnavailable):
|
||||
read_closed_rlog(root, SEGMENT, permitted=lambda: True)
|
||||
path.unlink()
|
||||
os.mkfifo(path)
|
||||
with pytest.raises(LocalLogUnavailable):
|
||||
read_closed_rlog(root, SEGMENT, permitted=lambda: True)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("change", ("replace", "mutate", "lock", "segment", "cancel"))
|
||||
def test_changes_during_read_never_return_a_receipt(tmp_path, change):
|
||||
root, path = recording(tmp_path)
|
||||
allowed = [True]
|
||||
native_read = os.read
|
||||
changed = False
|
||||
def interrupted(fd, size):
|
||||
nonlocal changed
|
||||
result = native_read(fd, size)
|
||||
if result and not changed:
|
||||
changed = True
|
||||
if change == "replace":
|
||||
other = path.with_name("replacement")
|
||||
other.write_bytes(result)
|
||||
other.replace(path)
|
||||
elif change == "mutate":
|
||||
path.write_bytes(b"X" * len(result))
|
||||
os.utime(path, ns=(0, 0))
|
||||
elif change == "lock":
|
||||
path.with_name("rlog.lock").touch()
|
||||
elif change == "segment":
|
||||
path.parent.rename(root / (SEGMENT + "-moved"))
|
||||
path.parent.mkdir()
|
||||
else:
|
||||
allowed[0] = False
|
||||
return result
|
||||
with patch("openpilot.starpilot.flm.local_logs.os.read", side_effect=interrupted), pytest.raises(LocalLogUnavailable):
|
||||
read_closed_rlog(root, SEGMENT, permitted=lambda: allowed[0])
|
||||
|
||||
|
||||
def test_size_limit_and_cancel_before_any_open(tmp_path):
|
||||
root, path = recording(tmp_path)
|
||||
with patch("openpilot.starpilot.flm.local_logs.MAX_COMPRESSED_BYTES", len(path.read_bytes()) - 1), \
|
||||
pytest.raises(LocalLogUnavailable, match="oversized"):
|
||||
read_closed_rlog(root, SEGMENT, permitted=lambda: True)
|
||||
with patch("openpilot.starpilot.flm.local_logs.os.open") as opened, pytest.raises(LocalLogUnavailable):
|
||||
read_closed_rlog(root, SEGMENT, permitted=lambda: False)
|
||||
opened.assert_not_called()
|
||||
@@ -0,0 +1,272 @@
|
||||
"""Serialized current Cereal traces and frozen override-mask differential."""
|
||||
|
||||
import math
|
||||
from contextlib import ExitStack
|
||||
import unittest
|
||||
|
||||
from openpilot.cereal import log
|
||||
from openpilot.starpilot.flm.offline import SegmentInput, TrackingSample, _eligible, analyze_segments
|
||||
from opendbc.car.hyundai.values import CAR
|
||||
|
||||
|
||||
def event(kind, ns, *, valid=True, **fields):
|
||||
builder = log.Event.new_message(logMonoTime=ns, valid=valid)
|
||||
payload = builder.init(kind)
|
||||
if kind == 'carParams':
|
||||
payload.carFingerprint = fields.get('fingerprint', CAR.HYUNDAI_IONIQ_6)
|
||||
payload.lateralTuning.init(fields.get('tuning', 'torque'))
|
||||
payload.steerControlType = fields.get('steering_type', 'torque')
|
||||
payload.dashcamOnly = fields.get('dashcam', False)
|
||||
elif kind == 'carState':
|
||||
payload.vEgo = fields.get('speed', 12.0)
|
||||
payload.steeringPressed = fields.get('pressed', False)
|
||||
payload.canValid = fields.get('can_valid', True)
|
||||
elif kind == 'carControl':
|
||||
payload.latActive = fields.get('lat_active', True)
|
||||
elif kind == 'controlsState':
|
||||
state = payload.lateralControlState
|
||||
state.init(fields.get('controller', 'torqueState'))
|
||||
if fields.get('controller', 'torqueState') == 'torqueState':
|
||||
state.torqueState.desiredLateralAccel = fields.get('desired', 0.4)
|
||||
state.torqueState.actualLateralAccel = fields.get('actual', 0.3)
|
||||
state.torqueState.active = fields.get('active', True)
|
||||
return builder
|
||||
|
||||
|
||||
def serialized(builders):
|
||||
with ExitStack() as stack:
|
||||
for builder in builders:
|
||||
yield stack.enter_context(log.Event.from_bytes(builder.as_reader().as_builder().to_bytes()))
|
||||
|
||||
|
||||
def segment(*, number=0, count=25, pressed=(), fingerprint=CAR.HYUNDAI_IONIQ_6, gap_at=None,
|
||||
invalid_first=False, other_last=False, bad_numeric_at=None, invalid_control_at=None):
|
||||
base = 1_000_000_000
|
||||
events = [event('carParams', base, fingerprint=fingerprint)]
|
||||
for i in range(count):
|
||||
ns = base + (i + 1) * 100_000_000 + (1_000_000_000 if gap_at is not None and i >= gap_at else 0)
|
||||
events += [event('carState', ns, pressed=i in pressed, valid=not (invalid_first and i == 0)),
|
||||
event('carControl', ns, valid=i != invalid_control_at),
|
||||
event('controlsState', ns, controller='pidState' if other_last and i == count - 1 else 'torqueState',
|
||||
desired=float('nan') if i == bad_numeric_at else 0.4)]
|
||||
return SegmentInput('synthetic', number, serialized(events))
|
||||
|
||||
|
||||
def frozen_mask(samples):
|
||||
"""Independent translation of frozen flm_workspace._analysis_eligibility_mask."""
|
||||
eligible = [True for _ in samples]
|
||||
last_override = -math.inf
|
||||
for index, sample in enumerate(samples):
|
||||
t = sample.mono_ns / 1e9
|
||||
if sample.steering_pressed:
|
||||
last_override = t
|
||||
if sample.steering_pressed or t - last_override <= 1.0:
|
||||
eligible[index] = False
|
||||
next_override = math.inf
|
||||
for index in range(len(samples) - 1, -1, -1):
|
||||
sample = samples[index]
|
||||
t = sample.mono_ns / 1e9
|
||||
if sample.steering_pressed:
|
||||
next_override = t
|
||||
if sample.steering_pressed or next_override - t <= 0.35:
|
||||
eligible[index] = False
|
||||
eligible[0] = eligible[-1] = False
|
||||
return eligible
|
||||
|
||||
|
||||
class OfflineTest(unittest.TestCase):
|
||||
def test_serialized_current_ioniq_torque_tracking(self):
|
||||
result = analyze_segments((segment(),)).segments[0]
|
||||
self.assertEqual(result.status, 'measured')
|
||||
self.assertEqual(result.eligible_samples, 23)
|
||||
assert result.mean_abs_error is not None
|
||||
assert result.root_mean_square_error is not None
|
||||
self.assertAlmostEqual(result.mean_abs_error, 0.1, places=6)
|
||||
self.assertAlmostEqual(result.root_mean_square_error, 0.1, places=6)
|
||||
self.assertEqual((result.series[0].desired_lat_accel, result.series[0].actual_lat_accel), (0.4000000059604645, 0.30000001192092896))
|
||||
self.assertEqual(len(result.windows), 1)
|
||||
self.assertEqual(result.windows[0].sample_count, 23)
|
||||
self.assertEqual(result.windows[0].direction, 'left')
|
||||
|
||||
def test_late_consistent_car_params_has_same_complete_segment_report(self):
|
||||
base = 1_000_000_000
|
||||
samples = []
|
||||
for i in range(25):
|
||||
ns = base + (i + 1) * 100_000_000
|
||||
samples.extend((event('carState', ns), event('carControl', ns), event('controlsState', ns)))
|
||||
def analyze(events):
|
||||
return analyze_segments((SegmentInput('same', 0, serialized(events)),)).segments[0]
|
||||
early = analyze([event('carParams', base), *samples])
|
||||
late = analyze([*samples, event('carParams', base + 4_000_000_000)])
|
||||
repeated = analyze([*samples, event('carParams', base + 4_000_000_000), event('carParams', base)])
|
||||
self.assertEqual(early, late)
|
||||
self.assertEqual(late.eligible_samples, 23)
|
||||
self.assertEqual(repeated.eligible_samples, early.eligible_samples)
|
||||
self.assertNotIn('missing_or_unsupported_car_params', dict(late.exclusions))
|
||||
|
||||
def test_late_invalid_or_changed_car_params_rejects_entire_segment(self):
|
||||
base = 1_000_000_000
|
||||
samples = []
|
||||
for i in range(25):
|
||||
ns = base + (i + 1) * 100_000_000
|
||||
samples.extend((event('carState', ns), event('carControl', ns), event('controlsState', ns)))
|
||||
changed = event('carParams', base + 4_000_000_000)
|
||||
changed.carParams.lateralTuning.torque.friction = .2
|
||||
for cp, reason in ((changed, 'inconsistent_car_params'),
|
||||
(event('carParams', base + 4_000_000_000, valid=False), 'invalid_car_params'),
|
||||
(event('carParams', 0), 'invalid_car_params')):
|
||||
with self.subTest(reason=reason), self.assertRaisesRegex(ValueError, reason):
|
||||
analyze_segments((SegmentInput('same', 0, serialized([event('carParams', base), *samples, cp])),))
|
||||
|
||||
def test_frozen_override_mask_and_gap_boundary(self):
|
||||
samples = [TrackingSample(1_000_000_000 + i * 100_000_000, 12.0, .4, .3, False, i in (5, 17)) for i in range(25)]
|
||||
self.assertEqual(_eligible(samples), frozen_mask(samples))
|
||||
result = analyze_segments((segment(pressed=(5, 17), gap_at=12),)).segments[0]
|
||||
self.assertGreater(dict(result.exclusions)['driver_override_or_boundary'], 0)
|
||||
self.assertLess(result.eligible_samples, 23)
|
||||
|
||||
def test_wrong_car_and_non_torque_are_not_measured(self):
|
||||
wrong = analyze_segments((segment(fingerprint='NOT_IONIQ'),)).segments[0]
|
||||
self.assertEqual(wrong.status, 'unsupported_car')
|
||||
self.assertEqual(wrong.eligible_samples, 0)
|
||||
result = analyze_segments((segment(count=3, other_last=True),)).segments[0]
|
||||
self.assertEqual(dict(result.exclusions)['other_controller'], 1)
|
||||
|
||||
def test_missing_invalid_stale_sources_and_segment_independence(self):
|
||||
report = analyze_segments((segment(count=5, invalid_first=True, invalid_control_at=1, bad_numeric_at=2),
|
||||
segment(number=1, count=5))).segments
|
||||
self.assertEqual(dict(report[0].exclusions)['missing_or_stale_source'], 2)
|
||||
self.assertEqual(dict(report[0].exclusions)['invalid_numeric'], 1)
|
||||
self.assertEqual(report[1].status, 'measured')
|
||||
|
||||
def test_series_and_message_bounds(self):
|
||||
report = analyze_segments((segment(count=300),)).segments[0]
|
||||
self.assertEqual(len(report.series), 160)
|
||||
self.assertLess(report.series[0].mono_ns, report.series[-1].mono_ns)
|
||||
|
||||
def test_bounds_cancel_and_inconsistent_cp(self):
|
||||
with self.assertRaisesRegex(ValueError, 'segment_count'):
|
||||
analyze_segments(())
|
||||
with self.assertRaisesRegex(RuntimeError, 'cancelled'):
|
||||
analyze_segments((segment(),), cancelled=lambda: True)
|
||||
events = [event('carParams', 1_000_000_000), event('carParams', 1_000_000_001, fingerprint='OTHER')]
|
||||
with self.assertRaisesRegex(ValueError, 'inconsistent_car_params'):
|
||||
analyze_segments((SegmentInput('a', 0, serialized(events)),))
|
||||
|
||||
repeated = event('carParams', 1_000_000_002)
|
||||
repeated.carParams.lateralTuning.torque.friction = .2
|
||||
with self.assertRaisesRegex(ValueError, 'inconsistent_car_params'):
|
||||
analyze_segments((SegmentInput('a', 0, serialized([event('carParams', 1_000_000_000), repeated])),))
|
||||
|
||||
def test_inactive_press_masks_neighbors_and_breaks_window(self):
|
||||
base = 1_000_000_000
|
||||
events = [event('carParams', base)]
|
||||
for i in range(30):
|
||||
ns = base + (i + 1) * 100_000_000
|
||||
events.extend((event('carState', ns, pressed=i == 8), event('carControl', ns, lat_active=i != 8),
|
||||
event('controlsState', ns)))
|
||||
report = analyze_segments((SegmentInput('a', 0, serialized(events)),)).segments[0]
|
||||
press_ns = base + 900_000_000
|
||||
self.assertTrue(all(not -350_000_000 <= point.mono_ns - press_ns <= 1_000_000_000 for point in report.series))
|
||||
self.assertEqual(len(report.windows), 1)
|
||||
self.assertGreater(report.windows[0].start_mono_ns, press_ns + 1_000_000_000)
|
||||
|
||||
def test_short_invalid_gap_does_not_bridge_and_unrelated_interleaving_is_ignored(self):
|
||||
base = 1_000_000_000
|
||||
events = [event('carParams', base)]
|
||||
for i in range(25):
|
||||
ns = base + (i + 1) * 100_000_000
|
||||
events.append(event('carState', ns))
|
||||
if i == 10:
|
||||
events.append(event('initData', ns - 50_000_000)) # cross-service chronology is not global
|
||||
events.append(event('carControl', ns, valid=i != 12))
|
||||
events.append(event('controlsState', ns))
|
||||
report = analyze_segments((SegmentInput('a', 0, serialized(events)),)).segments[0]
|
||||
self.assertEqual(len(report.windows), 2)
|
||||
self.assertEqual(dict(report.exclusions)['missing_or_stale_source'], 1)
|
||||
self.assertNotIn('invalid_or_reordered_timestamp', dict(report.exclusions))
|
||||
before = {point.continuity_id for point in report.series if point.mono_ns < base + 1_300_000_000}
|
||||
after = {point.continuity_id for point in report.series if point.mono_ns > base + 1_300_000_000}
|
||||
self.assertTrue(before and after)
|
||||
self.assertTrue(before.isdisjoint(after))
|
||||
|
||||
def test_future_publisher_arrives_before_earlier_controls_frame(self):
|
||||
base = 1_000_000_000
|
||||
events = [event('carParams', base)]
|
||||
for i in range(12):
|
||||
ns = base + (i + 1) * 100_000_000
|
||||
if i != 4:
|
||||
events.extend((event('carState', ns), event('carControl', ns)))
|
||||
if i == 3:
|
||||
future = ns + 100_000_000
|
||||
events.extend((event('carState', future), event('carControl', future)))
|
||||
events.append(event('controlsState', ns))
|
||||
report = analyze_segments((SegmentInput('a', 0, serialized(events)),)).segments[0]
|
||||
self.assertEqual(report.status, 'measured')
|
||||
self.assertEqual(report.eligible_samples, 10)
|
||||
self.assertNotIn('missing_or_stale_source', dict(report.exclusions))
|
||||
|
||||
def test_invalid_vehicle_source_and_extreme_values(self):
|
||||
events = [event('carParams', 1_000_000_000)]
|
||||
for i in range(6):
|
||||
ns = 1_100_000_000 + i * 100_000_000
|
||||
events.extend((event('carState', ns, can_valid=i != 0), event('carControl', ns),
|
||||
event('controlsState', ns, desired=3.4e38 if i == 2 else .4, active=i != 3)))
|
||||
report = analyze_segments((SegmentInput('a', 0, serialized(events)),)).segments[0]
|
||||
self.assertEqual(dict(report.exclusions)['invalid_car_state'], 1)
|
||||
self.assertEqual(dict(report.exclusions)['invalid_numeric'], 1)
|
||||
self.assertEqual(dict(report.exclusions)['lateral_inactive'], 1)
|
||||
self.assertIsNone(report.mean_abs_error)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
unittest.main()
|
||||
|
||||
|
||||
class GmEvidenceJoinTest(unittest.TestCase):
|
||||
def test_actual_factory_context_serialized_epochs_original_profiles_and_mismatch_rejection(self):
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
|
||||
from opendbc.car.gm.values import CAR as GM_CAR
|
||||
from openpilot.starpilot.flm.gm_recommend import source_context, classify_groups, build_report
|
||||
from openpilot.starpilot.lateral.torque_settings import PlatformProfile, FieldChoice
|
||||
cp_builder = ordinary_params(GM_CAR.CHEVROLET_MALIBU_ASCM)
|
||||
cp_builder.init('carFw', 1)[0].fwVersion = b'\x00\xfffirmware'
|
||||
cp = cp_builder.as_reader()
|
||||
tune = cp.lateralTuning.torque
|
||||
with OpenpilotPrefix():
|
||||
context = source_context(cp, 'starpilot', Params(), 'a'*64,
|
||||
PlatformProfile((tune.latAccelFactor, tune.latAccelOffset, tune.friction), FieldChoice(), FieldChoice()))
|
||||
events = []
|
||||
params_event = log.Event.new_message(logMonoTime=1_000_000_000, valid=True)
|
||||
params_event.init('carParams').from_dict(cp.to_dict())
|
||||
events.append(params_event)
|
||||
for index in range(500):
|
||||
ns = 1_000_000_000 + (index+1)*20_000_000 + (1_000_000_000 if index >= 250 else 0)
|
||||
state = event('carState', ns, pressed=index == 100)
|
||||
state.carState.steeringAngleDeg = 3.
|
||||
command = event('carControl', ns)
|
||||
control = event('controlsState', ns, desired=.8, actual=.1)
|
||||
control.controlsState.lateralControlState.torqueState.output = .2
|
||||
events.extend((state, command, control))
|
||||
groups = []
|
||||
result = analyze_segments((SegmentInput('synthetic-gm-recording', 0, serialized(events)),), gm_context=context, evidence=groups)
|
||||
self.assertEqual(result.segments[0].status, 'measured')
|
||||
self.assertGreaterEqual(len(groups), 3)
|
||||
self.assertTrue(all(all(0 < b.t-a.t <= .251 for a,b in zip(group,group[1:], strict=False)) for group in groups))
|
||||
self.assertTrue(all(not sample.steering_pressed for group in groups for sample in group))
|
||||
summaries, stats = classify_groups(groups)
|
||||
self.assertGreater(stats['sampleCount'], 0)
|
||||
report = build_report(context, summaries, stats)
|
||||
self.assertEqual({path['key'] for path in report['paths']}, {'baseline_fix', 'cleanup_pass'})
|
||||
self.assertTrue(any(path['profiles'] for path in report['paths']))
|
||||
self.assertFalse(report['fit'])
|
||||
self.assertFalse(report['vehicleQualification'])
|
||||
with self.assertRaises(ValueError):
|
||||
build_report(context, summaries, stats, feedback={'acceptedDimensions':['invented-dimension']})
|
||||
wrong = {**context, 'cpSignature': 'b'*64}
|
||||
rejected = []
|
||||
result = analyze_segments((SegmentInput('synthetic-gm-recording', 0, serialized(events)),), gm_context=wrong, evidence=rejected)
|
||||
self.assertEqual(result.segments[0].status, 'unsupported_car')
|
||||
self.assertEqual(rejected, [])
|
||||
@@ -0,0 +1,574 @@
|
||||
"""One isolated FLM operation never publishes a partial or unparked report."""
|
||||
|
||||
from pathlib import Path
|
||||
import json
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from unittest import mock
|
||||
|
||||
import pytest
|
||||
import zstandard as zstd
|
||||
|
||||
from openpilot.cereal import messaging
|
||||
from openpilot.starpilot.flm.operation_owner import FlmAnalysisOwner, FlmOperationError
|
||||
|
||||
|
||||
SEGMENT = '1234abcd--0123456789--0'
|
||||
|
||||
|
||||
def recording(tmp_path: Path, *, valid: bool = True) -> Path:
|
||||
root = tmp_path.resolve()
|
||||
folder = root / SEGMENT
|
||||
folder.mkdir()
|
||||
event = messaging.new_message('deviceState', valid=True)
|
||||
event.logMonoTime = 1234
|
||||
(folder / 'rlog.zst').write_bytes(zstd.ZstdCompressor().compress(event.to_bytes()) if valid else b'bad zstd')
|
||||
return root
|
||||
|
||||
|
||||
def terminal(owner: FlmAnalysisOwner) -> dict:
|
||||
deadline = time.monotonic() + 5
|
||||
while time.monotonic() < deadline:
|
||||
state = owner.snapshot()
|
||||
if state['state'] != 'running':
|
||||
return state
|
||||
time.sleep(0.01)
|
||||
raise AssertionError('operation did not terminate')
|
||||
|
||||
|
||||
def test_real_local_worker_report_source_identity_and_stale_id(tmp_path):
|
||||
owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True)
|
||||
try:
|
||||
started = owner.start((SEGMENT,))
|
||||
assert started['operationId'].count(':') == 1 and started['selected'] == 1
|
||||
assert terminal(owner)['state'] == 'completed'
|
||||
report = owner.report(started['operationId'])
|
||||
assert report['schemaVersion'] == 1 and report['vehicleQualification'] is False
|
||||
assert report['segments'][0]['source']['segmentName'] == SEGMENT
|
||||
assert report['segments'][0]['analysis']['status'] == 'missing_car_params'
|
||||
report['segments'].clear()
|
||||
assert len(owner.report(started['operationId'])['segments']) == 1
|
||||
next_run = owner.start((SEGMENT,))
|
||||
with pytest.raises(FlmOperationError, match='operation_changed'):
|
||||
owner.report(started['operationId'])
|
||||
assert terminal(owner)['state'] == 'completed'
|
||||
assert owner.report(next_run['operationId'])['operationId'] == next_run['operationId']
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_request_thread_can_exit_while_monitor_owned_child_completes(tmp_path):
|
||||
owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True)
|
||||
replies = []
|
||||
request_thread = threading.Thread(target=lambda: replies.append(owner.start((SEGMENT,))))
|
||||
try:
|
||||
request_thread.start()
|
||||
request_thread.join(timeout=2)
|
||||
assert not request_thread.is_alive() and len(replies) == 1
|
||||
assert terminal(owner)['state'] == 'completed'
|
||||
assert owner.report(replies[0]['operationId'])['segments'][0]['analysis']['status'] == 'missing_car_params'
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_failed_monitor_start_is_unavailable_and_does_not_wedge_future_analysis(tmp_path):
|
||||
owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True)
|
||||
try:
|
||||
with mock.patch.object(threading.Thread, 'start', side_effect=RuntimeError('thread unavailable')):
|
||||
with pytest.raises(FlmOperationError, match='unavailable'):
|
||||
owner.start((SEGMENT,))
|
||||
assert owner.snapshot()['state'] == 'failed'
|
||||
token = owner.start((SEGMENT,))['operationId']
|
||||
assert terminal(owner)['state'] == 'completed'
|
||||
assert owner.report(token)['operationId'] == token
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_corrupt_and_symlinked_local_sources_publish_no_report(tmp_path):
|
||||
root = recording(tmp_path, valid=False)
|
||||
owner = FlmAnalysisOwner(root=root, parked=lambda: True)
|
||||
try:
|
||||
token = owner.start((SEGMENT,))['operationId']
|
||||
assert terminal(owner)['state'] == 'unavailable'
|
||||
with pytest.raises(FlmOperationError):
|
||||
owner.report(token)
|
||||
path = root / SEGMENT / 'rlog.zst'
|
||||
path.unlink()
|
||||
path.symlink_to(root / 'outside')
|
||||
token = owner.start((SEGMENT,))['operationId']
|
||||
assert terminal(owner)['state'] == 'unavailable'
|
||||
with pytest.raises(FlmOperationError):
|
||||
owner.report(token)
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_cancel_busy_and_onroad_kill_isolated_slow_child(tmp_path):
|
||||
root = recording(tmp_path)
|
||||
parked = [True]
|
||||
slow_worker = (sys.executable, '-c', 'import sys,time;sys.stdin.buffer.read();time.sleep(30)')
|
||||
owner = FlmAnalysisOwner(root=root, parked=lambda: parked[0], worker_argv=slow_worker)
|
||||
try:
|
||||
token = owner.start((SEGMENT,))['operationId']
|
||||
with pytest.raises(FlmOperationError, match='busy'):
|
||||
owner.start((SEGMENT,))
|
||||
assert owner.cancel(token)['state'] == 'canceled'
|
||||
token = owner.start((SEGMENT,))['operationId']
|
||||
with owner._lock:
|
||||
parked[0] = False
|
||||
assert owner.snapshot()['state'] == 'unavailable'
|
||||
parked[0] = True
|
||||
with pytest.raises(FlmOperationError, match='busy'):
|
||||
owner.start((SEGMENT,))
|
||||
parked[0] = False
|
||||
assert terminal(owner)['state'] == 'unavailable'
|
||||
with pytest.raises(FlmOperationError):
|
||||
owner.report(token)
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_worker_pipe_eof_while_alive_and_selector_failure_reap(tmp_path):
|
||||
root = recording(tmp_path)
|
||||
eof_worker = (sys.executable, '-c', 'import os,sys,time;sys.stdin.buffer.read();os.close(1);time.sleep(30)')
|
||||
owner = FlmAnalysisOwner(root=root, parked=lambda: True, worker_argv=eof_worker)
|
||||
try:
|
||||
owner.start((SEGMENT,))
|
||||
assert terminal(owner)['state'] == 'failed'
|
||||
assert owner._child is None
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
class BrokenSelector:
|
||||
def __enter__(self):
|
||||
return self
|
||||
def __exit__(self, *args):
|
||||
return False
|
||||
def register(self, *_args):
|
||||
raise OSError('injected selector failure')
|
||||
|
||||
with mock.patch('openpilot.starpilot.flm.operation_owner.selectors.DefaultSelector', BrokenSelector):
|
||||
owner = FlmAnalysisOwner(root=root, parked=lambda: True, worker_argv=eof_worker)
|
||||
try:
|
||||
owner.start((SEGMENT,))
|
||||
assert terminal(owner)['state'] == 'failed'
|
||||
assert owner._child is None
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_close_stops_child_and_revokes_report(tmp_path):
|
||||
owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True)
|
||||
token = owner.start((SEGMENT,))['operationId']
|
||||
assert terminal(owner)['state'] == 'completed'
|
||||
owner.close()
|
||||
with pytest.raises(FlmOperationError, match='unavailable'):
|
||||
owner.report(token)
|
||||
|
||||
|
||||
def test_worker_rejects_stale_parent_identity_before_any_log_read(tmp_path):
|
||||
root = recording(tmp_path)
|
||||
child = subprocess.run((sys.executable, '-m', 'openpilot.starpilot.flm.operation_worker'),
|
||||
input=json.dumps({'root': str(root), 'segments': [SEGMENT], 'parentPid': 1}).encode(),
|
||||
capture_output=True, timeout=5, check=False)
|
||||
assert child.returncode != 0
|
||||
assert b'"kind":"result"' not in child.stdout
|
||||
assert b'"code":"process_failed"' in child.stdout
|
||||
|
||||
|
||||
def test_wall_deadline_stops_and_reaps_child(tmp_path):
|
||||
worker = (sys.executable, '-c', 'import sys,time;sys.stdin.buffer.read();time.sleep(30)')
|
||||
with mock.patch('openpilot.starpilot.flm.operation_owner.WALL_DEADLINE_SECONDS', 0.05):
|
||||
owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True, worker_argv=worker)
|
||||
try:
|
||||
owner.start((SEGMENT,))
|
||||
status = terminal(owner)
|
||||
assert status['state'] == 'failed' and status['errorCode'] == 'deadline'
|
||||
assert owner._child is None
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_invalid_selection_and_unparked_start_do_not_spawn(tmp_path):
|
||||
owner = FlmAnalysisOwner(root=tmp_path.resolve(), parked=lambda: False)
|
||||
try:
|
||||
for names in ((), (SEGMENT, SEGMENT), ('../outside',)):
|
||||
with pytest.raises(FlmOperationError, match='invalid_request'):
|
||||
owner.start(names)
|
||||
with pytest.raises(FlmOperationError, match='not_parked'):
|
||||
owner.start((SEGMENT,))
|
||||
assert owner.snapshot()['state'] == 'idle'
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_gm_live_trial_atomic_restore_preserves_other_choices_and_rejects_changed_source():
|
||||
from dataclasses import replace
|
||||
from types import SimpleNamespace
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
|
||||
from opendbc.car.gm.values import CAR
|
||||
from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
|
||||
from openpilot.starpilot.flm.live import GmLiveSource, gm_capability
|
||||
from openpilot.starpilot.flm.torque_surface import GmSurface
|
||||
from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
|
||||
from openpilot.starpilot.lateral.torque_settings import (DOCUMENT_KEY, FieldChoice, parse_document, replace_field,
|
||||
replace_geometry, serialize_document)
|
||||
cp = ordinary_params(CAR.CHEVROLET_MALIBU_ASCM).as_reader()
|
||||
with OpenpilotPrefix():
|
||||
saved = Params()
|
||||
mode = ControllerMode.STARPILOT
|
||||
saved.put('LateralControllerSelection', json.loads(replace_mode(None, cp, mode)), block=True)
|
||||
cap = gm_capability(cp, mode)
|
||||
identity = cap['fingerprint']
|
||||
profiles = replace_field({}, identity, cap['basis'], 'friction', 'custom', cap['basis'][2] * 1.1)
|
||||
profiles = replace_geometry(profiles, identity, cap['basis'], (cp.steerRatio, cp.steerActuatorDelay+.2),
|
||||
'ratio', FieldChoice('custom', cp.steerRatio * 1.1))
|
||||
saved.put(DOCUMENT_KEY, json.loads(serialize_document(profiles)), block=True)
|
||||
context = SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)
|
||||
owner = FlmTrialOwner(saved, SimpleNamespace(sample=lambda: context))
|
||||
|
||||
def action(operation, **fields):
|
||||
return owner.action({'action': operation, 'token': owner.snapshot()['token'], **fields})
|
||||
|
||||
for key, gain in (('baseline', .1), ('trial', .3)):
|
||||
action('save', id=key, label=key, surface=GmSurface(cap['profile'], {'ff_gain_left': gain}).document())
|
||||
first = action('apply', id='baseline')
|
||||
action('accept', trial=first['state']['trial'])
|
||||
trial = action('trial', id='trial')
|
||||
token = trial['state']['trial']
|
||||
self_profile = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())[identity]
|
||||
assert self_profile.flm.active == 'trial' and self_profile.flm.baseline_active == 'baseline'
|
||||
source = GmLiveSource(cp, mode, saved)
|
||||
assert source.sample(active=True, speed=20., now_ns=1_000_000_000).knobs['ff_gain_left'] == .3
|
||||
before = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
|
||||
with pytest.raises(FlmOperationError, match='busy'):
|
||||
action('save', id='baseline', label='changed', surface=GmSurface(cap['profile'], {}).document())
|
||||
assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == before
|
||||
restored = action('restore', trial=token)
|
||||
assert restored['state']['active'] == 'baseline'
|
||||
trial = action('trial', id='trial')
|
||||
token = trial['state']['trial']
|
||||
before = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
|
||||
# A concurrent explicit manual edit rejects even refreshed restore. Accept
|
||||
# keeps that user edit and clears the old baseline without overwriting it.
|
||||
latest = parse_document(before)
|
||||
latest = replace_field(latest, identity, cap['basis'], 'friction', 'custom', cap['basis'][2] * 1.2)
|
||||
saved.put(DOCUMENT_KEY, json.loads(serialize_document(latest)), block=True)
|
||||
with pytest.raises(FlmOperationError, match='operation_changed'):
|
||||
owner.action({'action': 'restore', 'token': trial['token'], 'trial': token})
|
||||
with pytest.raises(FlmOperationError, match='operation_changed'):
|
||||
action('restore', trial=token)
|
||||
assert owner.snapshot()['manualConflict']
|
||||
restored = action('accept', trial=token)
|
||||
after = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
|
||||
assert after[identity].friction == latest[identity].friction
|
||||
assert after[identity].geometry == profiles[identity].geometry
|
||||
assert after[identity].flm.active == 'trial' and after[identity].flm.trial is None
|
||||
assert restored['state']['applied']
|
||||
assert source.sample(active=True, speed=20., now_ns=2_000_000_000).knobs['ff_gain_left'] == .3
|
||||
action('disable')
|
||||
assert source.sample(active=True, speed=20., now_ns=3_000_000_000) is None
|
||||
assert len(parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())[identity].flm.saved) == 2
|
||||
frozen = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
|
||||
valid = iter((True, False))
|
||||
with pytest.raises(FlmOperationError, match='operation_changed'):
|
||||
owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': 'trial'},
|
||||
session_valid=lambda: next(valid, False))
|
||||
assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen, 'authority is rechecked before atomic write'
|
||||
context.parked = False
|
||||
with pytest.raises(FlmOperationError, match='not_parked'):
|
||||
action('trial', id='trial')
|
||||
assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen
|
||||
context.parked = True
|
||||
bad = cp.as_builder()
|
||||
bad.lateralTuning.torque.latAccelFactor *= 1.01
|
||||
context.cp, context.cp_raw = bad.as_reader(), bad.to_bytes()
|
||||
snapshot = owner.snapshot()
|
||||
assert not snapshot['available'] and snapshot['resettable']
|
||||
with pytest.raises(FlmOperationError, match='operation_changed'):
|
||||
action('trial', id='trial')
|
||||
action('reset')
|
||||
result = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
|
||||
assert result[identity] == replace(after[identity], flm=None), 'changed-basis reset is FLM-only'
|
||||
assert not Path(saved.get_param_path('FLMTrialApplied')).exists()
|
||||
|
||||
|
||||
def test_gm_live_exact_controller_vehicle_basis_absence_and_malformed_never_rewrite():
|
||||
from types import SimpleNamespace
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
|
||||
from opendbc.car.gm.values import CAR
|
||||
from openpilot.starpilot.flm.live import GmLiveSource, gm_capability
|
||||
from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
|
||||
from openpilot.starpilot.flm.torque_surface import GmSurface, GmFlmBinding
|
||||
from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
|
||||
from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, PlatformProfile, FieldChoice, parse_document, serialize_document
|
||||
cp = ordinary_params(CAR.CHEVROLET_MALIBU_ASCM).as_reader()
|
||||
with OpenpilotPrefix():
|
||||
saved = Params()
|
||||
saved.put('LateralControllerSelection', json.loads(replace_mode(None, cp, ControllerMode.STARPILOT)), block=True)
|
||||
cap = gm_capability(cp, ControllerMode.STARPILOT)
|
||||
source = GmLiveSource(cp, ControllerMode.STARPILOT, saved)
|
||||
assert source.sample(active=True, speed=20., now_ns=1_000_000_000) is None
|
||||
assert not Path(saved.get_param_path(DOCUMENT_KEY)).exists()
|
||||
binding = GmFlmBinding('starpilot', cap['policy'], cap['basis'],
|
||||
(('one', 'One', GmSurface(cap['profile'], {'ff_gain_left': .3})),), 'one', True)
|
||||
for controller, basis, identity in (('standard', cap['basis'], cap['fingerprint']),
|
||||
('starpilot', (cap['basis'][0]*1.01, *cap['basis'][1:]), cap['fingerprint']),
|
||||
('starpilot', cap['basis'], str(CAR.CADILLAC_XT4))):
|
||||
from dataclasses import replace
|
||||
rejected = replace(binding, controller=controller, basis=basis)
|
||||
raw = serialize_document({identity: PlatformProfile(cap['basis'], FieldChoice(), FieldChoice(), flm=rejected)})
|
||||
saved.put(DOCUMENT_KEY, json.loads(raw), block=True)
|
||||
source.last_ns = None
|
||||
assert source.sample(active=True, speed=20., now_ns=2_000_000_000) is None
|
||||
assert parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()) == parse_document(raw)
|
||||
stale_basis = (cap['basis'][0]*1.01, *cap['basis'][1:])
|
||||
saved.put(DOCUMENT_KEY, json.loads(serialize_document({cap['fingerprint']: PlatformProfile(stale_basis, FieldChoice(), FieldChoice())})), block=True)
|
||||
ctx = SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)
|
||||
stale_owner = FlmTrialOwner(saved, SimpleNamespace(sample=lambda: ctx))
|
||||
assert not stale_owner.snapshot()['available'], 'outer manual profile basis is also part of live admission'
|
||||
frozen = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
|
||||
with pytest.raises(FlmOperationError, match='operation_changed'):
|
||||
stale_owner.action({'action': 'save', 'token': stale_owner.snapshot()['token'], 'id': 'one', 'label': 'One',
|
||||
'surface': GmSurface(cap['profile'], {}).document()})
|
||||
assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen
|
||||
Path(saved.get_param_path(DOCUMENT_KEY)).write_bytes(b'{')
|
||||
source.last_ns = None
|
||||
assert source.sample(active=True, speed=20., now_ns=3_000_000_000) is None
|
||||
assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == b'{'
|
||||
ctx = SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)
|
||||
assert not FlmTrialOwner(saved, SimpleNamespace(sample=lambda: ctx)).snapshot()['available']
|
||||
|
||||
|
||||
def test_gm_bundle_full_manual_switch_restore_guard_precedence_and_other_vehicle_preserved():
|
||||
from dataclasses import replace
|
||||
from types import SimpleNamespace
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from opendbc.car.gm.tests.test_bolt_cc import params as bolt_params
|
||||
from opendbc.car.gm.values import CAR
|
||||
from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
|
||||
from openpilot.starpilot.flm.live import gm_capability
|
||||
from openpilot.starpilot.flm.manual_trial import manual_snapshot
|
||||
from openpilot.starpilot.flm.torque_surface import GmSurface
|
||||
from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
|
||||
from openpilot.starpilot.lateral.torque_settings import (DOCUMENT_KEY, FieldChoice, GainBasis, GeometryProfile,
|
||||
PlatformProfile, parse_document, serialize_document)
|
||||
cp = bolt_params(CAR.CHEVROLET_BOLT_CC_2022_2023, alpha=True).as_reader()
|
||||
with OpenpilotPrefix():
|
||||
saved = Params()
|
||||
saved.put('LateralControllerSelection', json.loads(replace_mode(None, cp, ControllerMode.STARPILOT)), block=True)
|
||||
saved.put('AdvancedLateralTune', False, block=True)
|
||||
saved.put('ForceAutoTuneOff', True, block=True)
|
||||
cap = gm_capability(cp, ControllerMode.STARPILOT)
|
||||
identity = cap['fingerprint']
|
||||
baseline = PlatformProfile(cap['basis'], FieldChoice(), FieldChoice())
|
||||
other = str(CAR.CHEVROLET_MALIBU_ASCM)
|
||||
profiles = {identity: baseline, other: PlatformProfile((2., 0., .1), FieldChoice('custom', 2.2), FieldChoice())}
|
||||
saved.put(DOCUMENT_KEY, json.loads(serialize_document(profiles)), block=True)
|
||||
ctx = SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)
|
||||
owner = FlmTrialOwner(saved, SimpleNamespace(sample=lambda: ctx))
|
||||
gain = GainBasis('starpilot', ((0,), (.6,)), cap['basis'])
|
||||
geometry = GeometryProfile((cp.steerRatio, cp.steerActuatorDelay + .2), FieldChoice('custom', cp.steerRatio * 1.1),
|
||||
FieldChoice('custom', .7), False, 'force_auto')
|
||||
one = replace(baseline, factor=FieldChoice('custom', cap['basis'][0] * 1.1),
|
||||
friction=FieldChoice('custom', min(.1, cap['basis'][2]*1.1)),
|
||||
proportional_gain=FieldChoice('custom', .7), gain_basis=gain, geometry=geometry)
|
||||
two = replace(baseline, geometry=replace(geometry, ratio=FieldChoice(), full_delay=FieldChoice(),
|
||||
automatic_delay=True, learning='source'))
|
||||
def save(key, profile):
|
||||
owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': key, 'label': key,
|
||||
'surface': GmSurface(cap['profile'], {}).document()}, generated_manual=manual_snapshot(profile, identity))
|
||||
save('one', one)
|
||||
save('two', two)
|
||||
reasons = owner.snapshot()['preconditions']['one']
|
||||
assert any('Advanced' in reason for reason in reasons) and any('Off remains' in reason for reason in reasons)
|
||||
frozen = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
|
||||
with pytest.raises(FlmOperationError, match='unavailable'):
|
||||
owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': 'one'})
|
||||
assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen
|
||||
assert saved.get_bool('ForceAutoTuneOff') and not saved.get_bool('AdvancedLateralTune')
|
||||
# Only the user explicitly changes prerequisites; FLM never writes them.
|
||||
saved.put('ForceAutoTuneOff', False, block=True)
|
||||
saved.put('AdvancedLateralTune', True, block=True)
|
||||
preferences = {key: saved.get(key) for key in ('ForceAutoTuneOff', 'AdvancedLateralTune', 'LateralControllerSelection')}
|
||||
def apply(key):
|
||||
return owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': key})
|
||||
trial = apply('one')
|
||||
current = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
|
||||
assert replace(current[identity], flm=None) == one
|
||||
switched = apply('two')
|
||||
current = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
|
||||
assert replace(current[identity], flm=None) == two, 'source choices replace every earlier custom field'
|
||||
assert switched['state']['trial'] == trial['state']['trial']
|
||||
owner.action({'action': 'restore', 'token': owner.snapshot()['token'], 'trial': trial['state']['trial']})
|
||||
current = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
|
||||
assert replace(current[identity], flm=None) == baseline
|
||||
assert current[other] == profiles[other]
|
||||
assert preferences == {key: saved.get(key) for key in preferences}
|
||||
from openpilot.starpilot.flm.gm_recommend import build_report, same_numerical_context
|
||||
source = owner.training_context(owner.snapshot()['token'])
|
||||
evidence = build_report(source, [], {'sampleCount': 32, 'meanErrorAbs': .03})
|
||||
before_progress = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
|
||||
assert not owner.record_cleanup({'gmEvidence': evidence}, session_valid=lambda: False)
|
||||
assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == before_progress
|
||||
assert owner.record_cleanup({'gmEvidence': evidence}, session_valid=lambda: True)
|
||||
recorded = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
|
||||
assert recorded[identity].flm.cleanup_progress and not recorded[identity].flm.applied
|
||||
assert replace(recorded[identity], flm=None) == baseline
|
||||
assert recorded[other] == profiles[other]
|
||||
assert preferences == {key: saved.get(key) for key in preferences}
|
||||
fresh = owner.training_context(owner.snapshot()['token'])
|
||||
assert fresh['cleanupProgress'] and same_numerical_context(fresh, source)
|
||||
assert not same_numerical_context({**fresh, 'geometryBasis': [cp.steerRatio*1.01, cp.steerActuatorDelay+.2]}, source)
|
||||
assert build_report(fresh, [], {'sampleCount': 32, 'meanErrorAbs': .03})['decision']['cleanupProgressLocked']
|
||||
|
||||
|
||||
|
||||
def test_gm_stale_rich_controller_binding_exposes_reset_only_and_preserves_manual():
|
||||
from types import SimpleNamespace
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from opendbc.car.gm.tests.test_bolt_cc import params as bolt_params
|
||||
from opendbc.car.gm.values import CAR
|
||||
from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
|
||||
from openpilot.starpilot.flm.live import gm_capability
|
||||
from openpilot.starpilot.flm.torque_surface import GmSurface
|
||||
from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
|
||||
from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, FieldChoice, PlatformProfile, parse_document, serialize_document
|
||||
cp = bolt_params(CAR.CHEVROLET_BOLT_CC_2022_2023, alpha=True).as_reader()
|
||||
with OpenpilotPrefix():
|
||||
params = Params()
|
||||
params.put('LateralControllerSelection', json.loads(replace_mode(None, cp, ControllerMode.STARPILOT)), block=True)
|
||||
cap = gm_capability(cp, ControllerMode.STARPILOT)
|
||||
profile = PlatformProfile(cap['basis'], FieldChoice('custom', cap['basis'][0]*1.1), FieldChoice())
|
||||
params.put(DOCUMENT_KEY, json.loads(serialize_document({cap['fingerprint']: profile})), block=True)
|
||||
context = SimpleNamespace(sample=lambda: SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True))
|
||||
owner = FlmTrialOwner(params, context)
|
||||
owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'rich', 'label': 'Rich',
|
||||
'surface': GmSurface(cap['profile'], {}).document()})
|
||||
params.put('LateralControllerSelection', json.loads(replace_mode(
|
||||
Path(params.get_param_path('LateralControllerSelection')).read_bytes(), cp, ControllerMode.STANDARD)), block=True)
|
||||
stale = owner.snapshot()
|
||||
assert not stale['available'] and not stale['editable'] and stale['resettable']
|
||||
assert stale['profile'] == 'torque_universal' and stale['state']['saved']['rich']['surface']['profile'] == 'gm_bolt_2022_2023'
|
||||
owner.action({'action': 'reset', 'token': stale['token']})
|
||||
assert owner.snapshot()['available']
|
||||
from opendbc.car.lateral import FRICTION_THRESHOLD
|
||||
assert owner.snapshot()['curveDefaults'] == [FRICTION_THRESHOLD] * 5
|
||||
assert parse_document(Path(params.get_param_path(DOCUMENT_KEY)).read_bytes())[cap['fingerprint']] == profile
|
||||
|
||||
|
||||
|
||||
def test_real_gm_worker_frozen_source_report_cannot_grant_or_mutate_preferences(tmp_path):
|
||||
from openpilot.cereal import log
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
|
||||
from opendbc.car.gm.values import CAR
|
||||
from openpilot.starpilot.flm.gm_recommend import source_context
|
||||
from openpilot.starpilot.lateral.torque_settings import PlatformProfile, FieldChoice
|
||||
from openpilot.starpilot.flm.tests.test_offline import event
|
||||
cp = ordinary_params(CAR.CHEVROLET_MALIBU_ASCM).as_reader()
|
||||
tune = cp.lateralTuning.torque
|
||||
with OpenpilotPrefix():
|
||||
params = Params()
|
||||
context = source_context(cp, 'starpilot', params, 'a'*64,
|
||||
PlatformProfile((tune.latAccelFactor, tune.latAccelOffset, tune.friction), FieldChoice(), FieldChoice()))
|
||||
folder = tmp_path/SEGMENT
|
||||
folder.mkdir()
|
||||
cp_event = log.Event.new_message(logMonoTime=1_000_000_000, valid=True)
|
||||
cp_event.init('carParams').from_dict(cp.to_dict())
|
||||
rows = [cp_event]
|
||||
for index in range(250):
|
||||
ns = 1_000_000_000 + (index+1)*20_000_000
|
||||
state = event('carState', ns)
|
||||
state.carState.steeringAngleDeg = 3.
|
||||
controls = event('controlsState', ns, desired=.8, actual=.1)
|
||||
controls.controlsState.lateralControlState.torqueState.output = .2
|
||||
rows.extend((state, event('carControl', ns), controls))
|
||||
raw = b''.join(row.to_bytes() for row in rows)
|
||||
(folder/'rlog.zst').write_bytes(zstd.ZstdCompressor().compress(raw))
|
||||
owner = FlmAnalysisOwner(root=tmp_path, parked=lambda: True)
|
||||
before = {key: params.get(key) for key in ('TorqueOverrideDocument', 'LateralControllerSelection', 'ForceAutoTuneOff', 'AdvancedLateralTune')}
|
||||
try:
|
||||
started = owner.start((SEGMENT,), gm_context=context)
|
||||
assert terminal(owner)['state'] == 'completed'
|
||||
report = owner.report(started['operationId'])
|
||||
assert report['purpose'] == 'gm_flm_evidence_profiles'
|
||||
assert report['gmEvidence']['context'] == context
|
||||
assert report['gmEvidence']['stats']['sampleCount'] > 0
|
||||
assert report['gmEvidence']['fit'] is False and report['vehicleQualification'] is False
|
||||
assert report['tuneRecommendation'] is None, 'original symptom trials never become an autonomous tuning grant'
|
||||
assert report['segments'][0]['source']['sha256'] == __import__('hashlib').sha256((folder/'rlog.zst').read_bytes()).hexdigest()
|
||||
assert before == {key: params.get(key) for key in before}, 'isolated worker has no Params writer'
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
def test_gm_bundle_preserves_inactive_finite_choices_but_rejects_consumed_bounds():
|
||||
from dataclasses import replace
|
||||
from types import SimpleNamespace
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
|
||||
from opendbc.car.gm.values import CAR
|
||||
from openpilot.starpilot.flm.live import gm_capability
|
||||
from openpilot.starpilot.flm.manual_trial import manual_profile, manual_snapshot
|
||||
from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
|
||||
from openpilot.starpilot.flm.torque_surface import GmSurface
|
||||
from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
|
||||
from openpilot.starpilot.lateral.torque_settings import (DOCUMENT_KEY, MAX_DOCUMENT_BYTES, FieldChoice, GainBasis,
|
||||
PlatformProfile, parse_document, serialize_document)
|
||||
cp = ordinary_params(CAR.CHEVROLET_MALIBU_ASCM).as_reader()
|
||||
with OpenpilotPrefix():
|
||||
params = Params()
|
||||
params.put('LateralControllerSelection', json.loads(replace_mode(None, cp, ControllerMode.STARPILOT)), block=True)
|
||||
cap = gm_capability(cp, ControllerMode.STARPILOT)
|
||||
identity = cap['fingerprint']
|
||||
# Source selections retain previously entered finite numbers, even when
|
||||
# those inactive numbers are outside the current consumption bounds.
|
||||
baseline = PlatformProfile(cap['basis'], FieldChoice('source', 10000.), FieldChoice('source', 10000.),
|
||||
FieldChoice('source', 10000.), GainBasis('starpilot', ((0,), (.6,)), cap['basis']))
|
||||
raw = serialize_document({identity: baseline})
|
||||
params.put(DOCUMENT_KEY, json.loads(raw), block=True)
|
||||
owner = FlmTrialOwner(params, SimpleNamespace(sample=lambda: SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)))
|
||||
snapshot = manual_snapshot(baseline, identity)
|
||||
assert manual_profile(snapshot, identity, cap['basis']) == baseline
|
||||
assert len(snapshot.encode()) < 4096 and MAX_DOCUMENT_BYTES == 16384
|
||||
owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'latent', 'label': 'Latent',
|
||||
'surface': GmSurface(cap['profile'], {}).document()})
|
||||
frozen = Path(params.get_param_path(DOCUMENT_KEY)).read_bytes()
|
||||
for name in ('factor', 'friction', 'proportional_gain'):
|
||||
invalid = replace(baseline, **{name: FieldChoice('custom', 10000.)})
|
||||
with pytest.raises(ValueError):
|
||||
owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'invalid', 'label': 'Invalid',
|
||||
'surface': GmSurface(cap['profile'], {}).document()},
|
||||
generated_manual=manual_snapshot(invalid, identity))
|
||||
assert Path(params.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen
|
||||
# An ordinary Save also validates the currently captured consumed fields,
|
||||
# rather than depending on a later full-document parse to reject them.
|
||||
params.put(DOCUMENT_KEY, json.loads(serialize_document({identity: replace(baseline, factor=FieldChoice('custom', 10000.))})), block=True)
|
||||
invalid_raw = Path(params.get_param_path(DOCUMENT_KEY)).read_bytes()
|
||||
with pytest.raises(ValueError):
|
||||
owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'invalid', 'label': 'Invalid',
|
||||
'surface': GmSurface(cap['profile'], {}).document()})
|
||||
assert Path(params.get_param_path(DOCUMENT_KEY)).read_bytes() == invalid_raw
|
||||
params.put(DOCUMENT_KEY, json.loads(frozen), block=True)
|
||||
changed = replace(baseline, factor=FieldChoice('custom', cap['basis'][0]*1.05))
|
||||
owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'custom', 'label': 'Custom',
|
||||
'surface': GmSurface(cap['profile'], {}).document()}, generated_manual=manual_snapshot(changed, identity))
|
||||
trial = owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': 'custom'})
|
||||
owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': 'latent'})
|
||||
assert replace(parse_document(Path(params.get_param_path(DOCUMENT_KEY)).read_bytes())[identity], flm=None) == baseline
|
||||
owner.action({'action': 'restore', 'token': owner.snapshot()['token'], 'trial': trial['state']['trial']})
|
||||
restored = parse_document(Path(params.get_param_path(DOCUMENT_KEY)).read_bytes())[identity]
|
||||
assert replace(restored, flm=None) == baseline
|
||||
assert len(Path(params.get_param_path(DOCUMENT_KEY)).read_bytes()) <= MAX_DOCUMENT_BYTES
|
||||
@@ -0,0 +1,281 @@
|
||||
import math
|
||||
from operator import setitem
|
||||
import unittest
|
||||
from unittest import mock
|
||||
|
||||
from openpilot.starpilot.flm.torque_surface import Ioniq6Surface, SurfaceInput, _BOUNDS, directional_taper_target, evaluate
|
||||
from openpilot.starpilot.lateral import ioniq6_policy as baseline
|
||||
|
||||
|
||||
class TestIoniq6Surface(unittest.TestCase):
|
||||
def test_profile_validation_and_immutability(self):
|
||||
surface = Ioniq6Surface.validated("standard", {"ff_gain_left": 0.217})
|
||||
self.assertEqual(surface.value("ff_gain_left"), 0.217)
|
||||
with self.assertRaises(TypeError):
|
||||
mock.Mock(wraps=setitem)(surface.knobs, "ff_gain_left", 0.3)
|
||||
source = {"ff_gain_left": 0.24}
|
||||
direct = Ioniq6Surface("standard", source)
|
||||
source["ff_gain_left"] = 0.50
|
||||
self.assertEqual(direct.value("ff_gain_left"), 0.24)
|
||||
for variant, knobs in (("2023", {}), ("standard", {"unknown": 1.0}),
|
||||
("standard", {"ff_gain_left": True}),
|
||||
("standard", {"ff_gain_left": math.nan}),
|
||||
("standard", {"ff_gain_left": 10 ** 1000}),
|
||||
("standard", {"turn_in_boost_left": 0.2}),
|
||||
("standard", {"ff_gain_left": 0.601}),
|
||||
("standard", {"curvy_speed_min": 25.0})):
|
||||
with self.subTest(variant=variant, knobs=knobs), self.assertRaises(ValueError):
|
||||
Ioniq6Surface.validated(variant, knobs)
|
||||
|
||||
def test_neutral_matches_existing_ioniq_stages(self):
|
||||
for variant in ("standard", "firmware_2025"):
|
||||
surface = Ioniq6Surface.validated(variant, {})
|
||||
for speed, setpoint, jerk, desired, actual in ((3.0, 0.7, 1.1, 11.0, 1.0),
|
||||
(14.0, -0.9, -1.5, -12.0, -3.0),
|
||||
(27.0, -0.8, 1.7, -3.0, -12.0),
|
||||
(26.0, 0.0, 0.0, 0.0, 0.0)):
|
||||
with self.subTest(variant=variant, speed=speed, setpoint=setpoint, jerk=jerk):
|
||||
taper = baseline.get_ioniq_6_directional_taper_scale(setpoint, jerk, speed)
|
||||
i = SurfaceInput(speed, setpoint, jerk, desired, actual, 0.2, False, taper)
|
||||
shape = evaluate(surface, i)
|
||||
center = baseline.get_ioniq_6_center_taper_scale(setpoint, speed)
|
||||
self.assertAlmostEqual(shape.directional_taper_target, taper, places=12)
|
||||
self.assertAlmostEqual(shape.center_taper, center, places=12)
|
||||
self.assertAlmostEqual(shape.feedforward_scale,
|
||||
baseline.get_ioniq_6_ff_scale(setpoint, jerk, speed, directional_taper_scale=taper), places=12)
|
||||
self.assertAlmostEqual(shape.friction_threshold,
|
||||
baseline.get_ioniq_6_friction_threshold(speed, setpoint, jerk) / max(center, 1e-3), places=12)
|
||||
self.assertAlmostEqual(shape.output_after_angle_assist,
|
||||
baseline.get_ioniq_6_low_speed_angle_assist_torque(desired, actual, 0.2, speed), places=12)
|
||||
self.assertEqual(shape.center_deadband_deg, 0.0)
|
||||
|
||||
def test_nondefault_direction_center_unwind_and_pose(self):
|
||||
surface = Ioniq6Surface.validated("standard", {
|
||||
"ff_gain_left": 0.30, "ff_gain_right": 0.12,
|
||||
"turn_in_boost_left": 1.2, "unwind_taper_right": 2.5,
|
||||
"center_taper_max": 0.16, "highway_center_taper_max": 0.15,
|
||||
"unwind_threshold_increase_right": 3.0,
|
||||
"curvy_turn_in_trim_left": 0.15, "curvy_unwind_extra_reduction_right": 0.25,
|
||||
"curvy_unwind_floor_relief_right": 0.40,
|
||||
"center_deadband_low_deg": 0.1, "center_deadband_mid_deg": 0.15,
|
||||
"low_speed_angle_assist_max_torque": 0.7,
|
||||
})
|
||||
neutral = Ioniq6Surface.validated("standard", {})
|
||||
turn = SurfaceInput(3.0, 0.8, 1.2, 12.0, 1.0, 0.0, False, 0.9)
|
||||
unwind = SurfaceInput(14.0, -0.8, 1.2, -2.0, -10.0, 0.3, False, 0.8)
|
||||
shaped_turn = evaluate(surface, turn)
|
||||
shaped_unwind = evaluate(surface, unwind)
|
||||
self.assertNotEqual(shaped_turn.feedforward_scale, evaluate(neutral, turn).feedforward_scale)
|
||||
self.assertNotEqual(shaped_turn.center_taper, evaluate(neutral, turn).center_taper)
|
||||
self.assertNotEqual(shaped_turn.output_after_angle_assist, evaluate(neutral, turn).output_after_angle_assist)
|
||||
self.assertNotEqual(shaped_unwind.directional_taper_target, evaluate(neutral, unwind).directional_taper_target)
|
||||
self.assertNotEqual(shaped_unwind.friction_threshold, evaluate(neutral, unwind).friction_threshold)
|
||||
self.assertGreater(shaped_turn.center_deadband_deg, 0.0)
|
||||
pressed = SurfaceInput(3.0, 0.8, 1.2, 12.0, 1.0, 0.2, True, 0.9)
|
||||
self.assertEqual(evaluate(surface, pressed).output_after_angle_assist, 0.2)
|
||||
|
||||
def test_filtered_taper_is_separate_controller_owned_state(self):
|
||||
surface = Ioniq6Surface.validated("standard", {})
|
||||
i = SurfaceInput(14.0, -0.8, 1.2, -6.0, -2.0, 0.2, False, filtered_directional_taper=0.91)
|
||||
shape = evaluate(surface, i)
|
||||
self.assertAlmostEqual(shape.feedforward_scale,
|
||||
baseline.get_ioniq_6_ff_scale(i.setpoint, i.jerk, i.speed, directional_taper_scale=0.91))
|
||||
self.assertNotEqual(shape.directional_taper_target, 0.91)
|
||||
for bad in (math.nan, math.inf, -2.1):
|
||||
with self.assertRaises(ValueError):
|
||||
SurfaceInput(i.speed, i.setpoint, i.jerk, i.desired_angle_deg, i.actual_angle_deg, i.output_torque, False, bad)
|
||||
for bad in (True, 10 ** 1000):
|
||||
with self.assertRaises(ValueError):
|
||||
SurfaceInput(bad, i.setpoint, i.jerk, i.desired_angle_deg, i.actual_angle_deg, i.output_torque, False, 0.9)
|
||||
unchecked_input = mock.Mock(wraps=SurfaceInput)
|
||||
with self.assertRaises(ValueError):
|
||||
unchecked_input(i.speed, i.setpoint, i.jerk, i.desired_angle_deg, i.actual_angle_deg, i.output_torque, "false", 0.9)
|
||||
with self.assertRaises(ValueError):
|
||||
unchecked_input(i.speed, i.setpoint, i.jerk, i.desired_angle_deg, i.actual_angle_deg, i.output_torque, False, None)
|
||||
|
||||
def test_frozen_ioniq_stage_vectors(self):
|
||||
# Compact values from frozen 678af783 latcontrol_vehicle_tunes.py SHA256
|
||||
# 2a7793c6ee4b53b45070d3267a01e8c7105dfd8df9d38cdfc96cfe4b672a125b.
|
||||
# Generated with private AST oracle, not by importing the frozen checkout.
|
||||
surface = Ioniq6Surface.validated("standard", {
|
||||
"ff_gain_left": 0.11, "ff_gain_right": 0.09,
|
||||
"turn_in_boost_left": 2.2, "turn_in_boost_right": 2.4,
|
||||
"unwind_taper_left": 5.0, "unwind_taper_right": 10.0,
|
||||
"center_taper_max": 0.13, "highway_center_taper_max": 0.08,
|
||||
"turn_in_threshold_reduction_left": 1.1, "turn_in_threshold_reduction_right": 1.6,
|
||||
"unwind_threshold_increase_left": 5.0, "unwind_threshold_increase_right": 11.0,
|
||||
"crawl_turn_in_ff_boost_left": 0.33, "crawl_turn_in_ff_boost_right": 0.38,
|
||||
"low_speed_angle_assist_max_torque": 0.60,
|
||||
})
|
||||
# speed, accel, jerk, desired angle, actual angle; then frozen direction,
|
||||
# center, combined pre-2023 FF, threshold and pose output from 0.2 torque.
|
||||
vectors = (
|
||||
(3.0, 0.18, 0.42, 11.0, 2.0, 0.988394829429103, 0.9978605797219613,
|
||||
1.4749555335910585, 0.32048565350593106, -0.13901469137077216),
|
||||
(14.0, -0.32, 0.55, -9.0, -15.0, 0.49398782437927313, 0.9746594981685954,
|
||||
0.4814699250108986, 0.40460794823460716, 0.2),
|
||||
(27.0, 0.19, 0.50, 9.0, 4.0, 0.9444309506239349, 0.8839299279089594,
|
||||
0.9260528746519242, 0.4179582730864161, 0.2),
|
||||
)
|
||||
for speed, accel, jerk, desired, actual, direction, center, ff, threshold, pose in vectors:
|
||||
with self.subTest(speed=speed, accel=accel, jerk=jerk):
|
||||
shape = evaluate(surface, SurfaceInput(speed, accel, jerk, desired, actual, 0.2, False, direction))
|
||||
self.assertAlmostEqual(shape.directional_taper_target, direction, places=11)
|
||||
self.assertAlmostEqual(shape.center_taper, center, places=11)
|
||||
self.assertAlmostEqual(shape.feedforward_scale * shape.center_taper, ff, places=11)
|
||||
self.assertAlmostEqual(shape.friction_threshold, threshold, places=11)
|
||||
self.assertAlmostEqual(shape.output_after_angle_assist, pose, places=11)
|
||||
|
||||
def test_historical_combined_extreme_is_preserved_but_unqualified(self):
|
||||
# Every individual value is inside frozen metadata, yet the combination
|
||||
# reverses the directional multiplier. Pure math must expose it, not clip it.
|
||||
surface = Ioniq6Surface.validated("standard", {name: high for name, (_, high) in _BOUNDS.items()})
|
||||
target = directional_taper_target(surface, 18.0, 0.9, -3.0)
|
||||
self.assertAlmostEqual(target, -0.13824656992744921, places=11)
|
||||
shape = evaluate(surface, SurfaceInput(18.0, 0.9, -3.0, 8.0, 4.0, 0.2, False, target))
|
||||
self.assertEqual(shape.directional_taper_target, target)
|
||||
self.assertLess(shape.feedforward_scale, 0.0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
class TestGmSurface(unittest.TestCase):
|
||||
def test_selected_neutral_and_rich_default_laws(self):
|
||||
from openpilot.starpilot.flm.torque_surface import GmSurface
|
||||
from openpilot.starpilot.lateral import bolt_shaping as gm
|
||||
neutral = GmSurface('torque_universal', {})
|
||||
rich = GmSurface('gm_bolt_2022_2023', {})
|
||||
for speed, setpoint, jerk in ((3., .8, 1.2), (14., -.8, 1.2), (27., .8, -1.2), (26., 0., 0.)):
|
||||
sample = SurfaceInput(speed, setpoint, jerk, 0., 0., 0., False, 1.)
|
||||
ff, threshold = neutral.stages(sample, setpoint, gm.get_gm_base_friction_threshold(speed))
|
||||
self.assertEqual(ff, setpoint)
|
||||
self.assertEqual(threshold, gm.get_gm_base_friction_threshold(speed))
|
||||
self.assertEqual(neutral.deadband(speed), 0.)
|
||||
rich_ff, rich_threshold = rich.stages(sample, setpoint, threshold, rich=True)
|
||||
self.assertAlmostEqual(rich_ff, setpoint * gm.get_bolt_2022_2023_ff_scale(setpoint, jerk, speed), places=12)
|
||||
self.assertAlmostEqual(rich_threshold, gm.get_bolt_2022_2023_friction_threshold(speed, setpoint, jerk), places=12)
|
||||
self.assertEqual(rich.angle_assist(sample), 0.)
|
||||
|
||||
def test_explicit_surface_bounds_composition_and_immutable_document(self):
|
||||
from openpilot.starpilot.flm.torque_surface import GmSurface, GmFlmBinding
|
||||
knobs = {'ff_gain_left': .3, 'ff_gain_right': -.1, 'center_deadband_low_deg': .1}
|
||||
surface = GmSurface('torque_universal', knobs, [.16, .18, .20, .23, .27])
|
||||
knobs['ff_gain_left'] = .6
|
||||
self.assertEqual(surface.knobs['ff_gain_left'], .3)
|
||||
with self.assertRaises(TypeError):
|
||||
mock.Mock(wraps=setitem)(surface.knobs, 'ff_gain_left', .5)
|
||||
self.assertEqual(GmSurface.from_document(surface.document()).document(), surface.document())
|
||||
self.assertGreater(surface.deadband(5.), 0.)
|
||||
self.assertAlmostEqual(surface.base_threshold(10.), .20)
|
||||
for speed in (3., 14., 27.):
|
||||
for sign in (-1., 1.):
|
||||
sample = SurfaceInput(speed, sign*.8, sign*1.2, 0., 0., 0., False, 1.)
|
||||
ff, threshold = surface.stages(sample, sign*.8, .2)
|
||||
self.assertGreater(ff * sign, 0.)
|
||||
if speed == 3.:
|
||||
self.assertGreater(ff, .8) if sign > 0 else self.assertLess(abs(ff), .8)
|
||||
self.assertTrue(math.isfinite(threshold) and threshold > 0.)
|
||||
for knobs, curve in (({'ff_gain_left': -.4, 'turn_in_boost_left': 2.8}, None),
|
||||
({'ff_gain_left': math.nan}, None), ({'ff_gain_left': 10**1000}, None),
|
||||
({'ff_gain_left': True}, None), ({'curvy_speed_min': 25.}, None),
|
||||
({}, [.2]*4), ({}, [.2, .2, math.inf, .2, .2]), ({}, [10**1000]*5)):
|
||||
with self.assertRaises(ValueError):
|
||||
GmSurface('torque_universal', knobs, curve)
|
||||
binding = GmFlmBinding('starpilot', 'ordinary_ascm', (2., 0., .1), (('one', 'Surface', surface),), 'one', True)
|
||||
self.assertEqual(GmFlmBinding.from_document(binding.document()), binding)
|
||||
for value in ({**binding.document(), 'active': 'missing'}, {**binding.document(), 'baselineActive': 'one', 'baselineApplied': True}):
|
||||
with self.assertRaises(ValueError):
|
||||
GmFlmBinding.from_document(value)
|
||||
|
||||
def test_actual_selected_controller_neutral_surface_has_no_double_application(self):
|
||||
from types import SimpleNamespace
|
||||
from opendbc.car.gm.interface import CarInterface
|
||||
from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
|
||||
from opendbc.car.gm.tests.test_bolt_cc import params as bolt_params
|
||||
from opendbc.car.gm.values import CAR
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from openpilot.starpilot.flm.live import gm_capability
|
||||
from openpilot.starpilot.flm import live as flm
|
||||
from openpilot.starpilot.flm.torque_surface import GmFlmBinding, GmSurface
|
||||
from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
|
||||
from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, PlatformProfile, FieldChoice, serialize_document
|
||||
import json
|
||||
cases = (ordinary_params(CAR.CHEVROLET_MALIBU_ASCM), bolt_params(CAR.CHEVROLET_BOLT_CC_2022_2023, alpha=True))
|
||||
for cp_builder in cases:
|
||||
cp = cp_builder.as_reader()
|
||||
for mode in ControllerMode:
|
||||
with OpenpilotPrefix():
|
||||
saved = Params()
|
||||
saved.put('LateralControllerSelection', json.loads(replace_mode(None, cp, mode)), block=True)
|
||||
baseline = LatControlTorque(cp, CarInterface(cp), .01, controller_mode=mode)
|
||||
overlay = LatControlTorque(cp, CarInterface(cp), .01, controller_mode=mode)
|
||||
cap = gm_capability(cp, mode)
|
||||
surface = GmSurface(cap['profile'], {})
|
||||
cs = SimpleNamespace(vEgo=20., steeringAngleDeg=0., steeringPressed=False, steeringRateDeg=0., standstill=False)
|
||||
params = SimpleNamespace(angleOffsetDeg=0., roll=0.)
|
||||
vm = VehicleModel(cp)
|
||||
with mock.patch('openpilot.starpilot.flm.live.time.monotonic_ns', return_value=1_000_000_000):
|
||||
baseline.flm_source.sample(active=True, speed=cs.vEgo)
|
||||
binding = GmFlmBinding(str(mode), cap['policy'], cap['basis'], (('neutral', 'Neutral', surface),), 'neutral', True)
|
||||
saved.put(DOCUMENT_KEY, json.loads(serialize_document({str(cp.carFingerprint): PlatformProfile(cap['basis'], FieldChoice(),
|
||||
FieldChoice(), flm=binding)})), block=True)
|
||||
with mock.patch('openpilot.starpilot.flm.live.stages', wraps=flm.stages) as stages:
|
||||
for tick in range(100):
|
||||
curvature = .001 if tick < 50 else -.001
|
||||
before = baseline.update(True, cs, vm, params, False, curvature, False, .2)
|
||||
after = overlay.update(True, cs, vm, params, False, curvature, False, .2)
|
||||
self.assertEqual(before[:2], after[:2], (cp.carFingerprint, mode, tick))
|
||||
self.assertEqual(before[2].to_dict(), after[2].to_dict(), (cp.carFingerprint, mode, tick))
|
||||
self.assertEqual(stages.call_count, 200, 'exactly one generic stage call per actual controller update')
|
||||
self.assertIsNotNone(overlay.flm_surface)
|
||||
self.assertIsNone(baseline.flm_surface)
|
||||
self.assertEqual(overlay.update(False, cs, vm, params, False, .001, False, .2)[0], 0.)
|
||||
self.assertIsNone(overlay.flm_surface)
|
||||
|
||||
|
||||
def test_standard_bolt_explicit_universal_angle_assist_reaches_actual_generic_controller(self):
|
||||
import json
|
||||
from types import SimpleNamespace
|
||||
from opendbc.car.gm.interface import CarInterface
|
||||
from opendbc.car.gm.tests.test_bolt_cc import params as bolt_params
|
||||
from opendbc.car.gm.values import CAR
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from openpilot.starpilot.flm import live as flm
|
||||
from openpilot.starpilot.flm.live import gm_capability
|
||||
from openpilot.starpilot.flm.torque_surface import GmFlmBinding, GmSurface
|
||||
from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
|
||||
from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, PlatformProfile, FieldChoice, serialize_document
|
||||
cp = bolt_params(CAR.CHEVROLET_BOLT_CC_2022_2023, alpha=True).as_reader()
|
||||
mode = ControllerMode.STANDARD
|
||||
with OpenpilotPrefix():
|
||||
params = Params()
|
||||
params.put('LateralControllerSelection', json.loads(replace_mode(None, cp, mode)), block=True)
|
||||
controller = LatControlTorque(cp, CarInterface(cp), .01, controller_mode=mode)
|
||||
self.assertIsNone(controller.starpilot_extension)
|
||||
cap = gm_capability(cp, mode)
|
||||
surface = GmSurface(cap['profile'], {'low_speed_angle_assist_max_torque': .1})
|
||||
binding = GmFlmBinding(str(mode), cap['policy'], cap['basis'], (('assist', 'Assist', surface),), 'assist', True)
|
||||
params.put(DOCUMENT_KEY, json.loads(serialize_document({cap['fingerprint']: PlatformProfile(cap['basis'],
|
||||
FieldChoice(), FieldChoice(), flm=binding)})), block=True)
|
||||
cs = SimpleNamespace(vEgo=3., steeringAngleDeg=0., steeringPressed=False, steeringRateDeg=0., standstill=False)
|
||||
learned = SimpleNamespace(angleOffsetDeg=0., roll=0.)
|
||||
observed = []
|
||||
original_angle = flm.angle_assist
|
||||
def actual_angle(*args):
|
||||
output = original_angle(*args)
|
||||
observed.append((args[-1], output))
|
||||
return output
|
||||
with mock.patch('openpilot.starpilot.flm.live.time.monotonic_ns', return_value=1_000_000_000), \
|
||||
mock.patch('openpilot.starpilot.flm.live.angle_assist', side_effect=actual_angle):
|
||||
result = controller.update(True, cs, VehicleModel(cp), learned, False, .003, False, .2)
|
||||
self.assertTrue(result[2].active)
|
||||
self.assertEqual(len(observed), 1)
|
||||
self.assertGreater(abs(observed[0][1] - observed[0][0]), 1e-6)
|
||||
self.assertTrue(math.isfinite(result[0]) and abs(result[0]) <= 1.)
|
||||
@@ -0,0 +1,21 @@
|
||||
from unittest.mock import patch
|
||||
|
||||
from openpilot.starpilot.flm import operation_worker as worker
|
||||
|
||||
|
||||
def test_unlimited_linux_limits_get_finite_ceiling():
|
||||
with patch.object(worker.sys, "platform", "linux"), patch.object(worker.os, "nice"), \
|
||||
patch.object(worker.resource, "getrlimit", return_value=(-1, -1)), \
|
||||
patch.object(worker.resource, "setrlimit") as set_limit:
|
||||
worker._limits()
|
||||
assert set_limit.call_args_list[0].args == (worker.resource.RLIMIT_AS, (worker.LINUX_ADDRESS_SPACE_BYTES, -1))
|
||||
assert set_limit.call_args_list[1].args == (worker.resource.RLIMIT_CPU, (worker.LINUX_CPU_SECONDS, -1))
|
||||
|
||||
|
||||
def test_existing_tighter_linux_limits_are_preserved():
|
||||
with patch.object(worker.sys, "platform", "linux"), patch.object(worker.os, "nice"), \
|
||||
patch.object(worker.resource, "getrlimit", side_effect=[(1000000, 2000000), (-1, 60)]), \
|
||||
patch.object(worker.resource, "setrlimit") as set_limit:
|
||||
worker._limits()
|
||||
assert set_limit.call_args_list[0].args == (worker.resource.RLIMIT_AS, (1000000, 2000000))
|
||||
assert set_limit.call_args_list[1].args == (worker.resource.RLIMIT_CPU, (60, 60))
|
||||
@@ -0,0 +1,791 @@
|
||||
{
|
||||
"sourceCommit": "678af783",
|
||||
"controllerSha256": "3561d5ac43a72f9b68bc9e44042b8f5cbdca406dec940e7648c64607862a60f7",
|
||||
"inputFields": ["active", "speed", "angle", "curvature", "pressed", "limited"],
|
||||
"outputFields": ["output", "desiredLateralAccel", "desiredLateralJerk", "p", "i", "f", "directionalFilter"],
|
||||
"sequence": [
|
||||
[false, 0.3, 10.0, -0.001, false, false],
|
||||
[false, 0.3, 10.0, -0.001, false, false],
|
||||
[false, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 0.3, 10.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 2.0, 5.0, -0.001, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -2.0, 0.0007, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 14.0, -8.0, -0.00025, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 2.0, -0.0009, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 27.0, 8.0, 0.00025, false, false],
|
||||
[true, 20.0, 2.0, -0.0005, true, false],
|
||||
[true, 20.0, 2.0, -0.0005, true, false],
|
||||
[true, 20.0, 2.0, -0.0005, true, false],
|
||||
[true, 20.0, 2.0, -0.0005, true, false],
|
||||
[true, 20.0, 2.0, -0.0005, true, false],
|
||||
[true, 20.0, 2.0, -0.0005, false, false],
|
||||
[true, 20.0, 2.0, -0.0005, false, false],
|
||||
[true, 20.0, 2.0, -0.0005, false, false],
|
||||
[true, 20.0, 2.0, -0.0005, false, false],
|
||||
[true, 20.0, 2.0, -0.0005, false, false],
|
||||
[true, 20.0, 2.0, -0.0005, false, false],
|
||||
[true, 20.0, 2.0, -0.0005, false, false],
|
||||
[true, 20.0, 2.0, -0.0005, false, false],
|
||||
[true, 20.0, 2.0, 0.008, false, true],
|
||||
[true, 20.0, 2.0, 0.008, false, true],
|
||||
[true, 20.0, 2.0, 0.008, false, true],
|
||||
[true, 20.0, 2.0, 0.008, false, true],
|
||||
[true, 20.0, 2.0, 0.008, false, true],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, -3.0, 0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[true, 30.0, 3.0, -0.009, false, false],
|
||||
[false, 0.0, 8.0, -0.001, false, false],
|
||||
[false, 0.0, 8.0, -0.001, false, false],
|
||||
[false, 0.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false],
|
||||
[true, 3.0, 8.0, -0.001, false, false]
|
||||
],
|
||||
"cases": {
|
||||
"2023_default": [
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.10946385067439653, -6.3100724219111726e-06, -6.310072058113292e-05, 0.1341981738805771, 1.8787743556458736e-06, 0.00032710772939026356, 0.9996100118902765],
|
||||
[-0.10883246512145582, -1.2177733879070729e-05, -0.00012177733879070729, 0.1318926364183426, 3.725271199073177e-06, 0.00031992016010917723, 0.9992295059317203],
|
||||
[-0.10824537411387734, -1.7634001778787933e-05, -0.00017634002142585814, 0.12974874675273895, 5.541753580473596e-06, 0.00031323812436312437, 0.9988582529369309],
|
||||
[-0.10769947128273318, -2.2707719836034812e-05, -0.00022707720927428454, 0.12775516510009766, 7.330325843213359e-06, 0.00030702617368660867, 0.9984960291624968],
|
||||
[-0.10719187355088806, -2.7425710868556052e-05, -0.00027425712323747575, 0.12590137124061584, 9.09294521989068e-06, 0.0003012513043358922, 0.998142616186421],
|
||||
[-0.10671988928055773, -3.181291322107427e-05, -0.0003181291394867003, 0.12417753040790558, 1.0831430699909106e-05, 0.00029588284087367356, 0.9977978007878223],
|
||||
[-0.10628102618360663, -3.589252446545288e-05, -0.00035892523010261357, 0.1225745677947998, 1.2547474398161285e-05, 0.0002908922324422747, 0.9974613748289103],
|
||||
[-0.09686010100009308, -0.00012337604130152613, -0.00033376028295606375, 0.08820036798715591, 1.378227989334846e-05, 0.00018323057156521827, 0.9971327104622644],
|
||||
[-0.09711245617035859, -0.00012103597691748291, -0.00031035972642712295, 0.08911982923746109, 1.5029957467049826e-05, 0.00018614112923387438, 0.9968120741787946],
|
||||
[-0.09734714586614258, -0.00011885998537763953, -0.00028859981102868915, 0.08997482806444168, 1.6289604900521226e-05, 0.0001888489641714841, 0.9964992693384843],
|
||||
[-0.09756540626975398, -0.00011683656339300796, -0.0002683655184227973, 0.09076987206935883, 1.7560383639647625e-05, 0.00019136829359922558, 0.9961941041558584],
|
||||
[-0.09776839378969632, -0.00011495500075398013, -0.00024954992113634944, 0.09150917828083038, 1.88415124284802e-05, 0.00019371230155229568, 0.9958963915774781],
|
||||
[-0.04090147625093484, -0.004023205488920212, -0.00023205348406918347, 0.31463244557380676, 3.578325777198188e-05, -0.22863617539405823, 0.9955856059993178],
|
||||
[-0.04097017598155184, -0.0040215784683823586, -0.00021578377345576882, 0.3147938847541809, 5.273369970382191e-05, -0.2285631000995636, 0.9952824091350698],
|
||||
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}
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}
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"corrections": {
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||||
"2746116c4f1040ff28312cd481ed59a43ace3fc1": "Unwind freezes the integrator when steering magnitude decreases in either direction."
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||||
}
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}
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@@ -0,0 +1,139 @@
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{
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||||
[-0.09957267603318784, -1.2177733879070729e-05, -0.00012177733879070729, 0.09824388474225998, 2.774849235720467e-06, 9.798955579753965e-05, 0.9992295059317203],
|
||||
[-0.09913630335274988, -1.7634001778787933e-05, -0.00017634002142585814, 0.09664839506149292, 4.127926786168246e-06, 9.492012031842023e-05, 0.9988582529369309],
|
||||
[-0.0987305336073542, -2.2707719836034812e-05, -0.00022707720927428454, 0.0951647162437439, 5.460232841869583e-06, 9.206731920130551e-05, 0.9984960291624968],
|
||||
[-0.20914663037612374, -0.000652122835163027, -0.006521228235214949, 0.9331316947937012, 0.00011432559404056519, -0.29679471254348755, 0.9981391809934517],
|
||||
[-0.20378671594561765, -0.0012374084908515215, -0.012374084442853928, 0.913754940032959, 0.0002209303347626701, -0.2971450090408325, 0.9977880370052482],
|
||||
[-0.19880095039411716, -0.0017816586187109351, -0.017816586419939995, 0.895721435546875, 0.00032543117413297296, -0.29746678471565247, 0.9974426531218326],
|
||||
[-0.19416335817561867, -0.0022877503652125597, -0.02287750318646431, 0.8789377212524414, 0.00042797389323823154, -0.2977619171142578, 0.9971030722974821],
|
||||
[0.4392321660999833, -0.1805993765592575, 0.1540062576532364, -1.1881484985351562, -0.0013800781453028321, -0.4364989101886749, 0.992499586928128],
|
||||
[0.4258132064536378, -0.1641511619091034, 0.31848835945129395, -1.1428061723709106, -0.0013800781453028321, -0.4333744943141937, 0.9884772861214742],
|
||||
[0.4134643642642225, -0.14885616302490234, 0.47143831849098206, -1.100642204284668, -0.0013800781453028321, -0.43070998787879944, 0.9849106631692192],
|
||||
[0.4020555760971033, -0.13463354110717773, 0.6136646270751953, -1.0614110231399536, -0.0013800781453028321, -0.42824599146842957, 0.9817055989940047],
|
||||
[0.3848995656490656, -0.12140807509422302, 0.7459192276000977, -1.0249145030975342, -0.0013800781453028321, -0.4015149474143982, 0.9788075568573854],
|
||||
[0.4109087335446737, -0.6421098709106445, 0.8689011931419373, -1.042867660522461, -0.0013800781453028321, -0.7119354009628296, 0.9666235589852955],
|
||||
[0.40548124993066065, -0.6306739449501038, 0.9832606315612793, -1.0322579145431519, -0.0013800781453028321, -0.705704391002655, 0.954489222066301],
|
||||
[0.40050714696593104, -0.6200397610664368, 1.0896021127700806, -1.0223921537399292, -0.0013800781453028321, -0.6995058655738831, 0.9424195214508498],
|
||||
[0.39584261470068033, -0.6101512312889099, 1.1884877681732178, -1.0132180452346802, -0.0013800781453028321, -0.6933526992797852, 0.9304395954054268],
|
||||
[0.3149811146942059, -0.06795595586299896, 1.2804404497146606, -0.8773694038391113, -0.0013800781453028321, -0.29052385687828064, 0.9299817995128876],
|
||||
[0.07278191701495691, 0.1974666267633438, 1.1906663179397583, -0.14468127489089966, -0.0013800781453028321, -0.12354271858930588, 0.9303986060329053],
|
||||
[0.08476103001121033, 0.1891186386346817, 1.1071864366531372, -0.16772553324699402, -0.0013592970790341496, -0.1449497640132904, 0.9308865510565729],
|
||||
[0.09583379534180414, 0.18135595321655273, 1.0295594930648804, -0.18915407359600067, -0.0016471401322633028, -0.16431504487991333, 0.9314381973895504],
|
||||
[0.10599475260681573, 0.17413750290870667, 0.9573751091957092, -0.20908012986183167, -0.001965305535122752, -0.18178008496761322, 0.9320461536047748],
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.18455691150215894, -0.003141704946756363, -0.004417050164192915, 0.8457168340682983, 9.866696200333536e-05, -0.2993770241737366, 0.9995935936517069],
|
||||
[-0.1807869478147606, -0.0035524412523955107, -0.008524413220584393, 0.8320255279541016, 0.00019573660392779857, -0.2995831072330475, 0.999194945848787],
|
||||
[-0.1772817750930907, -0.003934380132704973, -0.012343800626695156, 0.8192852139472961, 0.00029131988412700593, -0.2997693419456482, 0.9988040108797638],
|
||||
[-0.23438617884934018, 0.00156875466927886, -0.02031245268881321, 1.0144683122634888, 0.00040967451059259474, -0.2860351800918579, 0.9987354006918017]
|
||||
],
|
||||
"2025_tuned": [
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.10004176588515235, -6.3100724219111726e-06, -6.310072058113292e-05, 0.09995962679386139, 1.399434836457658e-06, 0.00010058288171421736, 0.9996100118902765],
|
||||
[-0.0995724824028674, -1.2177733879070729e-05, -0.00012177733879070729, 0.09824388474225998, 2.774849235720467e-06, 9.72808338701725e-05, 0.9992295059317203],
|
||||
[-0.09913610982047417, -1.7634001778787933e-05, -0.00017634002142585814, 0.09664839506149292, 4.127926786168246e-06, 9.421175491297618e-05, 0.9988582529369309],
|
||||
[-0.09873034016950431, -2.2707719836034812e-05, -0.00022707720927428454, 0.0951647162437439, 5.460232841869583e-06, 9.135930304182693e-05, 0.9984960291624968],
|
||||
[-0.20850737366620653, -0.000652122835163027, -0.006521228235214949, 0.9331316947937012, 0.00011432559404056519, -0.299134761095047, 0.9981391809934517],
|
||||
[-0.20313872630464402, -0.0012374084908515215, -0.012374084442853928, 0.913754940032959, 0.0002209303347626701, -0.29951703548431396, 0.9977880370052482],
|
||||
[-0.1981446778400448, -0.0017816586187109351, -0.017816586419939995, 0.895721435546875, 0.00032543117413297296, -0.2998691201210022, 0.9974426531218326],
|
||||
[-0.1934992417196338, -0.0022877503652125597, -0.02287750318646431, 0.8789377212524414, 0.00042797389323823154, -0.3001929819583893, 0.9971030722974821],
|
||||
[0.4385985958463555, -0.1805993765592575, 0.1540062576532364, -1.1881484985351562, -0.0013800781453028321, -0.4341534674167633, 0.992499586928128],
|
||||
[0.42515705373587437, -0.1641511619091034, 0.31848835945129395, -1.1428061723709106, -0.0013800781453028321, -0.4309435486793518, 0.9884772861214742],
|
||||
[0.41279772620131083, -0.14885616302490234, 0.47143831849098206, -1.100642204284668, -0.0013800781453028321, -0.42823871970176697, 0.9849106631692192],
|
||||
[0.4005006910087692, -0.13463354110717773, 0.6136646270751953, -1.0614110231399536, -0.0013800781453028321, -0.42247965931892395, 0.9817055989940047],
|
||||
[0.3834282557554281, -0.12140807509422302, 0.7459192276000977, -1.0249145030975342, -0.0013800781453028321, -0.39605703949928284, 0.9788075568573854],
|
||||
[0.41090873272070005, -0.6421098709106445, 0.8689011931419373, -1.042867660522461, -0.0013800781453028321, -0.7119354009628296, 0.9666235589852955],
|
||||
[0.4054812486515245, -0.6306739449501038, 0.9832606315612793, -1.0322579145431519, -0.0013800781453028321, -0.705704391002655, 0.954489222066301],
|
||||
[0.40050714504196294, -0.6200397610664368, 1.0896021127700806, -1.0223921537399292, -0.0013800781453028321, -0.6995058655738831, 0.9424195214508498],
|
||||
[0.3958426118913092, -0.6101512312889099, 1.1884877681732178, -1.0132180452346802, -0.0013800781453028321, -0.6933526396751404, 0.9304395954054268],
|
||||
[0.31389254542210765, -0.06795595586299896, 1.2804404497146606, -0.8773694038391113, -0.0013800781453028321, -0.28648287057876587, 0.9299817995128876],
|
||||
[0.09121441906277902, 0.1974666267633438, 1.1906663179397583, -0.14468127489089966, -0.0013800781453028321, -0.19182172417640686, 0.9303986060329053],
|
||||
[0.10272071436991616, 0.1891186386346817, 1.1071864366531372, -0.16772553324699402, -0.0013592970790341496, -0.21148933470249176, 0.9308865510565729],
|
||||
[0.11325653863995695, 0.18135595321655273, 1.0295594930648804, -0.18915407359600067, -0.0016471401322633028, -0.2288757711648941, 0.9314381973895504],
|
||||
[0.1228192862316972, 0.17413750290870667, 0.9573751091957092, -0.20908012986183167, -0.001965305535122752, -0.24413321912288666, 0.9320461536047748],
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
|
||||
[-0.1838782763203542, -0.003141704946756363, -0.004417050164192915, 0.8457168340682983, 9.866696200333536e-05, -0.3018612265586853, 0.9995935936517069],
|
||||
[-0.18010184692892778, -0.0035524412523955107, -0.008524413220584393, 0.8320255279541016, 0.00019573660392779857, -0.30209097266197205, 0.999194945848787],
|
||||
[-0.176590585847015, -0.003934380132704973, -0.012343800626695156, 0.8192852139472961, 0.00029131988412700593, -0.30229949951171875, 0.9988040108797638],
|
||||
[-0.23277761972196384, 0.00156875466927886, -0.02031245268881321, 1.0144683122634888, 0.00040967451059259474, -0.2919234335422516, 0.9987354006918017]
|
||||
]
|
||||
},
|
||||
"corrections": {
|
||||
"2746116c4f1040ff28312cd481ed59a43ace3fc1": "Unwind freezes the integrator when steering magnitude decreases in either direction."
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user