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firestar5683
2026-08-09 20:54:41 -05:00
parent 98f856a548
commit d4d06e5561
34 changed files with 731 additions and 131 deletions
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system/manager/manager.py
+8 -8
View File
@@ -68,7 +68,7 @@ STARPILOT_PARAM_CANONICALIZATION_MIGRATION_FLAG = Path("/data") / "starpilot_par
STARPILOT_PC_ROOT_MIGRATION_FLAG = Path("/data") / "starpilot_pc_root_v1"
STARPILOT_PARAMS_CACHE_MIGRATION_FLAG = Path("/data") / "starpilot_params_cache_v1"
STARPILOT_DEFAULT_MODEL_MIGRATION_FLAG = Path("/data") / "starpilot_default_model_rdf_v1"
STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG = Path("/data") / "starpilot_ce_model_stop_time_v1"
STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG = Path("/data") / "starpilot_ce_model_stop_time_v2"
STARPILOT_LEGACY_CACHE_MARKER_KEYS = ("RemapCancelToDistance",)
STARPILOT_REMOVED_PARAM_KEYS = ("CoastUpToLeads", "HumanAcceleration", "HumanFollowing", "PrioritizeSmoothFollowing")
LEGACY_CARMODEL_MIGRATIONS = {
@@ -561,8 +561,8 @@ def migrate_starpilot_default_parity(params: Params, params_cache: Params) -> No
seeded_keys.append(key)
if not _has_persisted_param_file(params, "CEModelStopTime") and not _has_persisted_param_file(params_cache, "CEModelStopTime"):
params.put_float("CEModelStopTime", 9.0)
params_cache.put_float("CEModelStopTime", 9.0)
params.put_float("CEModelStopTime", 7.7)
params_cache.put_float("CEModelStopTime", 7.7)
seeded_keys.append("CEModelStopTime")
# Rebase default regression fix:
@@ -628,7 +628,7 @@ def migrate_starpilot_default_model(params: Params, params_cache: Params) -> Non
def migrate_starpilot_ce_model_stop_time(params: Params, params_cache: Params) -> None:
"""Move the old persisted 7-second stop prediction default to 9 seconds once."""
"""Move persisted users of the old 9-second stop prediction threshold to 7.7 once."""
if STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG.exists():
return
@@ -643,14 +643,14 @@ def migrate_starpilot_ce_model_stop_time(params: Params, params_cache: Params) -
except Exception:
continue
if abs(parsed_value - 7.0) < 1e-6:
if abs(parsed_value - 9.0) < 1e-6:
legacy_default_detected = True
break
if legacy_default_detected:
params.put_float("CEModelStopTime", 9.0)
params_cache.put_float("CEModelStopTime", 9.0)
cloudlog.warning("Migrated CEModelStopTime from 7 seconds to 9 seconds")
params.put_float("CEModelStopTime", 7.7)
params_cache.put_float("CEModelStopTime", 7.7)
cloudlog.warning("Migrated CEModelStopTime from 9 seconds to 7.7 seconds")
try:
STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG.parent.mkdir(parents=True, exist_ok=True)
system/manager/test/test_manager.py
+26 -4
View File
@@ -240,6 +240,17 @@ class TestManager:
assert params.get("CEModelStopTime") == "3.5"
assert params_cache.get_bool("NNFF")
def test_migrate_starpilot_default_parity_seeds_new_model_stop_time_default(self, tmp_path, monkeypatch):
monkeypatch.setattr(manager, "STARPILOT_DEFAULTS_PARITY_MIGRATION_FLAG", tmp_path / "starpilot_defaults_parity_v1")
params = FileBackedFakeParams(tmp_path / "params")
params_cache = FileBackedFakeParams(tmp_path / "cache")
manager.migrate_starpilot_default_parity(params, params_cache)
assert params.get("CEModelStopTime") == "7.7"
assert params_cache.get("CEModelStopTime") == "7.7"
def test_migrate_starpilot_default_model(self, tmp_path, monkeypatch):
monkeypatch.setattr(manager, "STARPILOT_DEFAULT_MODEL_MIGRATION_FLAG", tmp_path / "starpilot_default_model_rdf_v1")
@@ -262,17 +273,28 @@ class TestManager:
assert manager.STARPILOT_DEFAULT_MODEL_MIGRATION_FLAG.exists()
def test_migrate_starpilot_ce_model_stop_time(self, tmp_path, monkeypatch):
monkeypatch.setattr(manager, "STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG", tmp_path / "starpilot_ce_model_stop_time_v1")
monkeypatch.setattr(manager, "STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG", tmp_path / "starpilot_ce_model_stop_time_v2")
params = FileBackedFakeParams(tmp_path / "params", {"CEModelStopTime": 7.0})
params = FileBackedFakeParams(tmp_path / "params", {"CEModelStopTime": 9.0})
params_cache = FileBackedFakeParams(tmp_path / "cache")
manager.migrate_starpilot_ce_model_stop_time(params, params_cache)
assert params.get("CEModelStopTime") == "9.0"
assert params_cache.get("CEModelStopTime") == "9.0"
assert params.get("CEModelStopTime") == "7.7"
assert params_cache.get("CEModelStopTime") == "7.7"
assert manager.STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG.exists()
def test_migrate_starpilot_ce_model_stop_time_preserves_custom_value(self, tmp_path, monkeypatch):
monkeypatch.setattr(manager, "STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG", tmp_path / "starpilot_ce_model_stop_time_v2")
params = FileBackedFakeParams(tmp_path / "params", {"CEModelStopTime": 8.0})
params_cache = FileBackedFakeParams(tmp_path / "cache", {"CEModelStopTime": 8.0})
manager.migrate_starpilot_ce_model_stop_time(params, params_cache)
assert params.get("CEModelStopTime") == "8.0"
assert params_cache.get("CEModelStopTime") == "8.0"
def test_migrate_disable_humanlike_defaults(self, tmp_path, monkeypatch):
monkeypatch.setattr(manager, "STARPILOT_HUMANLIKE_DISABLE_MIGRATION_FLAG", tmp_path / "starpilot_humanlike_disable_v1")