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firestar5683
56 lines
2.4 KiB
Python
56 lines
2.4 KiB
Python
"""Calibration is retained configuration; physical samples keep their own gates."""
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from types import SimpleNamespace
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import pytest
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from openpilot.starpilot.flm.calibration_lifecycle import ProducerCalibrationLifecycle
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from openpilot.starpilot.flm.steerlearnerd import _configuration_calibration
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BASE = 632501433320
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class CalibrationSource:
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def __init__(self, *, seen=True, valid=True, calibrated=True):
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self.seen = {'extrinsicsCalibration': seen}
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self.valid = {'extrinsicsCalibration': valid}
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self.logMonoTime = {'extrinsicsCalibration': BASE}
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self.recv_time = {'extrinsicsCalibration': BASE/1e9}
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self.message = SimpleNamespace(rpyCalib=(-.0000129, -.0230993, -.0274958),
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rpyCalibSpread=(.000135, .00904, .00597), validBlocks=50,
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calStatus='calibrated' if calibrated else 'uncalibrated')
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def __getitem__(self, service):
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assert service == 'extrinsicsCalibration'
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return self.message
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def all_checks(self, services):
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return False # Receiver cadence is not the calibration's meaning.
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@pytest.mark.parametrize('age_ns', (20_000_000, 600_000_000, 5_000_000_000))
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def test_known_calibration_survives_missing_cadence_without_restamping(age_ns):
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sm = CalibrationSource()
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lifecycle = ProducerCalibrationLifecycle(token_factory=lambda:'a'*32)
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frame = _configuration_calibration(sm, lifecycle, BASE+age_ns)
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assert frame == ('a'*32, sm.message.rpyCalib)
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assert sm.logMonoTime['extrinsicsCalibration'] == BASE
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assert sm.recv_time['extrinsicsCalibration'] == BASE/1e9
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@pytest.mark.parametrize('seen,valid,calibrated,now', (
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(False, True, True, BASE+1), (True, False, True, BASE+1),
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(True, True, False, BASE+1), (True, True, True, BASE-1),
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))
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def test_unseen_invalid_uncalibrated_or_future_configuration_is_rejected(seen, valid, calibrated, now):
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sm = CalibrationSource(seen=seen, valid=valid, calibrated=calibrated)
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assert _configuration_calibration(sm, ProducerCalibrationLifecycle(), now) is None
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def test_explicit_calibration_reset_retires_prior_frame():
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sm = CalibrationSource()
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tokens = iter(('a'*32, 'b'*32))
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lifecycle = ProducerCalibrationLifecycle(token_factory=lambda:next(tokens))
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assert _configuration_calibration(sm, lifecycle, BASE+1)[0] == 'a'*32
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sm.message.calStatus = 'uncalibrated'
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assert _configuration_calibration(sm, lifecycle, BASE+2) is None
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sm.message.calStatus = 'calibrated'
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assert _configuration_calibration(sm, lifecycle, BASE+3)[0] == 'b'*32
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