mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
d8708b65c7
Implement conditional driving modes with explicit scene, button and traffic state ownership. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: whoisdomi <dcantu83@gmail.com>
52 lines
2.5 KiB
Python
52 lines
2.5 KiB
Python
"""Scene sampling retains bounded publisher freshness across one planner tick."""
|
|
import unittest
|
|
|
|
from openpilot.starpilot.conditional_mode.projection import SceneProjector, _fresh
|
|
from openpilot.starpilot.conditional_mode.tests.test_projection import BOOT, CP, MONO, FakeSubMaster, serialized_scene
|
|
|
|
|
|
class TestSceneCadence(unittest.TestCase):
|
|
def test_fast_publisher_ages_retain_actual_scene_authority(self):
|
|
for age_ns in (22_472_000, 27_290_000, 23_594_000, 27_557_000, 26_571_000, 26_638_000):
|
|
with self.subTest(age_ns=age_ns):
|
|
now = MONO + 200_000_000
|
|
sm = FakeSubMaster(serialized_scene(stamp=BOOT + 200_000_000, lead_present=False), now - 1_000_000)
|
|
projector = SceneProjector()
|
|
projector.project(sm, CP, now_mono_ns=MONO, now_boot_ns=BOOT, sample_skew_ns=1000)
|
|
sm.logMonoTime['carControl'] = now - age_ns
|
|
sm.recv_time['carControl'] = (now - 2_000_000) / 1e9
|
|
result = projector.project(sm, CP, now_mono_ns=now, now_boot_ns=BOOT + 200_000_000,
|
|
sample_skew_ns=1000, safe_mode=False)
|
|
self.assertIsNotNone(result.authority)
|
|
self.assertTrue(result.authority.long_active)
|
|
self.assertTrue(result.authority.driving_enabled)
|
|
|
|
def test_fast_publisher_retains_both_clock_and_transport_bounds(self):
|
|
now = MONO + 200_000_000
|
|
sm = FakeSubMaster(serialized_scene(), now - 50_000_000)
|
|
self.assertTrue(_fresh(sm, 'carControl', now, MONO))
|
|
for field in ('logMonoTime', 'recv_time'):
|
|
values = getattr(sm, field)
|
|
good = values['carControl']
|
|
values['carControl'] = now - 50_000_001 if field == 'logMonoTime' else (now - 50_000_001) / 1e9
|
|
self.assertFalse(_fresh(sm, 'carControl', now, MONO))
|
|
values['carControl'] = good
|
|
for field in ('seen', 'alive', 'valid'):
|
|
values = getattr(sm, field)
|
|
values['carControl'] = False
|
|
self.assertFalse(_fresh(sm, 'carControl', now, MONO))
|
|
values['carControl'] = True
|
|
self.assertFalse(_fresh(sm, 'carControl', now, now - 50_000_000))
|
|
sm.logMonoTime['carControl'] = now + 1
|
|
self.assertFalse(_fresh(sm, 'carControl', now, MONO))
|
|
|
|
def test_model_publisher_keeps_existing_hundred_ms_bound(self):
|
|
now = MONO + 200_000_000
|
|
sm = FakeSubMaster(serialized_scene(), now - 100_000_000)
|
|
self.assertTrue(_fresh(sm, 'modelV2', now, MONO))
|
|
sm.logMonoTime['modelV2'] -= 1
|
|
self.assertFalse(_fresh(sm, 'modelV2', now, MONO))
|
|
sm.logMonoTime['modelV2'] += 1
|
|
sm.recv_time['modelV2'] = (now - 100_000_001) / 1e9
|
|
self.assertFalse(_fresh(sm, 'modelV2', now, MONO))
|