Skip disabled Auto Learn work in Controls

openpilot/selfdrive/controls/controlsd.py

@@ -136,10 +136,13 @@ class Controls:
                      "startupPidLimits": [self.LaC.pid.neg_limit, self.LaC.pid.pos_limit]})
 
     from openpilot.starpilot.flm.live_trial_store import load_confirmed_history
-    self.global_learning = GlobalRuntime(self.CP, self.CI, self.LaC, confirmed_live_history=load_confirmed_history(self.params))
+    from openpilot.starpilot.lateral.learning_preferences import read_preference
+    preference = read_preference(self.params, self.CP)
+    self.global_learning = (GlobalRuntime(self.CP, self.CI, self.LaC, confirmed_live_history=load_confirmed_history(self.params))
+                            if preference.valid and preference.enabled else None)
     # Load optional capture and live-trial code before the first control command.
     # Engagement must not compile/import replay and feedback modules in the loop.
-    if self.global_learning.descriptor is not None:
+    if self.global_learning is not None and self.global_learning.descriptor is not None:
       try:
         for module in ('controller_replay', 'physical_input_observation', 'feedback_wire', 'live_trial_wire', 'live_tracking_response'):
           importlib.import_module('openpilot.starpilot.flm.' + module)

openpilot/starpilot/lateral/tests/test_automatic_learning_source.py

@@ -329,3 +329,50 @@ class TestLearningProjectionPreference(unittest.TestCase):
         host = self.make_car(HKG.HYUNDAI_IONIQ_6, preference, legacy)
         assert host.learning_stamp_observer is None
         assert getattr(host.CI.CC, 'learning_projection_observer', None) is None
+
+
+class TestControlsLearningPreference(unittest.TestCase):
+  def make_controls(self, vehicle, preference=None, legacy=False):
+    from openpilot.selfdrive.controls.controlsd import Controls
+    params = Params()
+    cp = interfaces[vehicle].get_non_essential_params(vehicle)
+    params.put('CarParams', cp.to_bytes(), block=True)
+    params.put_bool('OpenpilotEnabledToggle', True, block=True)
+    params.put_bool(LEARNING_LEGACY_KEY, legacy, block=True)
+    if preference is not None:
+      params.put(LEARNING_KEY, replace_preference(None, cp, preference) if type(preference) is bool else preference, block=True)
+    before = (params.get(LEARNING_KEY), params.get(TORQUE_KEY))
+    host = Controls()
+    assert before == (params.get(LEARNING_KEY), params.get(TORQUE_KEY))
+    return host
+
+  def test_saved_off_skips_actual_controls_learning_runtime(self):
+    from unittest.mock import patch
+    from openpilot.selfdrive.controls import controlsd
+    for vehicle in VEHICLES:
+      with self.subTest(vehicle=vehicle), OpenpilotPrefix(), patch.object(controlsd, 'GlobalRuntime', wraps=controlsd.GlobalRuntime) as runtime:
+        host = self.make_controls(vehicle, False)
+        assert host.global_learning is None
+        runtime.assert_not_called()
+
+  def test_default_and_explicit_on_keep_actual_runtime(self):
+    from unittest.mock import patch
+    from openpilot.selfdrive.controls import controlsd
+    for vehicle, preference in ((HKG.HYUNDAI_IONIQ_6, None), (GM.CHEVROLET_BOLT_CC_2018_2021, True),
+                                (TOYOTA.TOYOTA_COROLLA_TSS2, True)):
+      with self.subTest(vehicle=vehicle, preference=preference), OpenpilotPrefix(), \
+           patch.object(controlsd, 'GlobalRuntime', wraps=controlsd.GlobalRuntime) as runtime:
+        host = self.make_controls(vehicle, preference)
+        assert host.global_learning is not None and type(host.global_learning).__name__ == 'GlobalRuntime'
+        runtime.assert_called_once()
+
+  def test_scoped_on_wins_over_legacy_off(self):
+    with OpenpilotPrefix():
+      host = self.make_controls(HKG.HYUNDAI_IONIQ_6, True, legacy=True)
+      assert host.global_learning is not None
+
+  def test_legacy_off_and_invalid_preference_skip_runtime(self):
+    for preference, legacy in ((None, True), (b'not json', False)):
+      with self.subTest(preference=preference, legacy=legacy), OpenpilotPrefix():
+        host = self.make_controls(HKG.HYUNDAI_IONIQ_6, preference, legacy)
+        assert host.global_learning is None

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "4ab96a0de5c3b4741be6c2723f4f24d5fb29619b722a6745fe1158eb13e6fe5b", "schema_version": 1}
+{"protected_inventory_sha256": "9a3f182efc3b1d8cf8b51f48ae55dbfae684aa7cf1c92f223f47b88fb7a8f697", "schema_version": 1}