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firestar5683
19 lines
899 B
Python
19 lines
899 B
Python
"""Actual PID constructor timing/gains cannot be changed by recorded state."""
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from dataclasses import replace
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import pytest
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from openpilot.starpilot.flm.controller_replay import capture_snapshot, restore_snapshot
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from openpilot.starpilot.flm.tests.test_pid_replay import factory
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@pytest.mark.parametrize('field', ('controller.dt', 'controller.sat_limit', 'controller.sat_check_min_speed',
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'pid.i_dt', 'pid._k_d.1.0'))
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def test_pid_checkpoint_preserves_every_actual_constructor_owned_gain(field):
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controller, vm = factory().create()
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snapshot = capture_snapshot(controller, vm)
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assert field in dict(snapshot.values)
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changed = tuple((name, value + .01 if name == field else value) for name, value in snapshot.values)
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with pytest.raises(ValueError, match='immutable actual gains'):
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restore_snapshot(controller, vm, replace(snapshot, values=changed))
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