mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-15 12:05:01 +08:00
205 lines
6.9 KiB
Python
205 lines
6.9 KiB
Python
from pathlib import Path
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from openpilot.system.manager.launch_param_migrations import (
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ACCELERATION_PROFILE_MIGRATION_MARKER,
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BRANCH_DEFAULTS_MIGRATION_MARKER,
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DEFAULT_STEER_KP,
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LAUNCH_PARAM_MIGRATION_MARKER,
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MARKER_DIRNAME,
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STANDARD_ACCELERATION_PROFILE,
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apply_launch_param_migrations,
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)
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class FileBackedFakeParams:
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def __init__(self, root: Path):
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self.root = root
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self.root.mkdir(parents=True, exist_ok=True)
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def get_param_path(self, key=""):
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if key:
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return str(self.root / (key.decode() if isinstance(key, bytes) else str(key)))
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return str(self.root)
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def get(self, key):
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path = Path(self.get_param_path(key))
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if not path.is_file():
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return None
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return path.read_text(encoding="utf-8")
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def get_bool(self, key):
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value = self.get(key)
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return value == "1"
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def get_float(self, key):
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value = self.get(key)
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return float(value) if value is not None else 0.0
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def get_int(self, key):
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value = self.get(key)
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return int(float(value)) if value is not None else 0
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def put_bool(self, key, value):
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Path(self.get_param_path(key)).write_text("1" if value else "0", encoding="utf-8")
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def put_int(self, key, value):
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Path(self.get_param_path(key)).write_text(str(int(value)), encoding="utf-8")
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def put_float(self, key, value):
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Path(self.get_param_path(key)).write_text(str(float(value)), encoding="utf-8")
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def marker_path(tmp_path: Path, marker_name: str) -> Path:
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return tmp_path / MARKER_DIRNAME / "params" / marker_name
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def test_apply_launch_param_migrations_sets_branch_defaults_once(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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params.put_bool("LongPitch", False)
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params.put_float("SteerKP", 0.7)
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params.put_float("SteerKPStock", 1.0)
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apply_launch_param_migrations(params)
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assert params.get_bool("LongPitch")
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assert params.get_float("SteerKP") == DEFAULT_STEER_KP
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assert params.get_float("SteerKPStock") == DEFAULT_STEER_KP
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assert marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER).is_file()
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def test_apply_launch_param_migrations_initializes_use_prebuilt(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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apply_launch_param_migrations(params)
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assert params.get_bool("UsePrebuilt")
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def test_apply_launch_param_migrations_does_not_overwrite_use_prebuilt(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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params.put_bool("UsePrebuilt", False)
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apply_launch_param_migrations(params)
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assert not params.get_bool("UsePrebuilt")
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def test_apply_launch_param_migrations_does_not_reapply_after_marker(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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marker = marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER)
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params.put_bool("LongPitch", False)
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params.put_float("SteerKP", 0.65)
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params.put_float("SteerKPStock", DEFAULT_STEER_KP)
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marker.touch()
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apply_launch_param_migrations(params, marker)
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assert not params.get_bool("LongPitch")
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assert params.get_float("SteerKP") == 0.65
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assert params.get_float("SteerKPStock") == DEFAULT_STEER_KP
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def test_apply_launch_param_migrations_applies_branch_defaults_for_existing_installs(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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params.put_bool("LongPitch", False)
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params.put_bool("CEStoppedLead", True)
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params.put_bool("ForceStops", False)
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params.put_float("AggressiveFollowHigh", 1.25)
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params.put_float("StandardFollowHigh", 1.45)
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params.put_float("StandardJerkAcceleration", 50.0)
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params.put_float("RelaxedFollow", 1.75)
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params.put_float("RelaxedFollowHigh", 1.75)
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params.put_float("RelaxedJerkSpeed", 50.0)
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marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER).touch()
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apply_launch_param_migrations(params)
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assert not params.get_bool("LongPitch")
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assert not params.get_bool("CEStoppedLead")
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assert params.get_bool("ForceStops")
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assert params.get_float("AggressiveFollowHigh") == 1.0
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assert params.get_float("StandardFollowHigh") == 1.2
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assert params.get_float("StandardJerkAcceleration") == 100.0
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assert params.get_float("RelaxedFollow") == 1.6
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assert params.get_float("RelaxedFollowHigh") == 1.4
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assert params.get_float("RelaxedJerkSpeed") == 100.0
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assert marker_path(tmp_path, BRANCH_DEFAULTS_MIGRATION_MARKER).is_file()
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def test_apply_launch_param_migrations_does_not_reapply_branch_defaults_after_marker(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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branch_defaults_marker = marker_path(tmp_path, BRANCH_DEFAULTS_MIGRATION_MARKER)
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params.put_bool("ConditionalExperimental", False)
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params.put_bool("CEStoppedLead", True)
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params.put_bool("ForceStops", False)
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params.put_float("AggressiveFollowHigh", 2.0)
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params.put_float("StandardJerkAcceleration", 25.0)
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params.put_float("RelaxedFollow", 2.0)
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branch_defaults_marker.touch()
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apply_launch_param_migrations(params)
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assert not params.get_bool("ConditionalExperimental")
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assert params.get_bool("CEStoppedLead")
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assert not params.get_bool("ForceStops")
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assert params.get_float("AggressiveFollowHigh") == 2.0
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assert params.get_float("StandardJerkAcceleration") == 25.0
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assert params.get_float("RelaxedFollow") == 2.0
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def test_apply_launch_param_migrations_preserves_custom_branch_defaults_without_marker(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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params.put_bool("CEStoppedLead", True)
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params.put_bool("ForceStops", True)
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params.put_float("AggressiveFollowHigh", 2.0)
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params.put_float("StandardJerkAcceleration", 25.0)
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params.put_float("RelaxedFollow", 2.0)
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apply_launch_param_migrations(params)
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assert not params.get_bool("CEStoppedLead")
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assert params.get_bool("ForceStops")
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assert params.get_float("AggressiveFollowHigh") == 2.0
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assert params.get_float("StandardJerkAcceleration") == 25.0
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assert params.get_float("RelaxedFollow") == 2.0
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def test_apply_launch_param_migrations_updates_acceleration_profile_for_existing_installs(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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params.put_int("AccelerationProfile", 2)
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marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER).touch()
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marker_path(tmp_path, BRANCH_DEFAULTS_MIGRATION_MARKER).touch()
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apply_launch_param_migrations(params)
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assert params.get_int("AccelerationProfile") == STANDARD_ACCELERATION_PROFILE
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assert marker_path(tmp_path, ACCELERATION_PROFILE_MIGRATION_MARKER).is_file()
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def test_apply_launch_param_migrations_does_not_reapply_acceleration_profile_after_marker(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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acceleration_profile_marker = marker_path(tmp_path, ACCELERATION_PROFILE_MIGRATION_MARKER)
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params.put_int("AccelerationProfile", 3)
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acceleration_profile_marker.touch()
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apply_launch_param_migrations(params)
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assert params.get_int("AccelerationProfile") == 3
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def test_apply_launch_param_migrations_preserves_custom_acceleration_profile_without_marker(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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params.put_int("AccelerationProfile", 1)
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apply_launch_param_migrations(params)
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assert params.get_int("AccelerationProfile") == 1
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