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firestar5683
67 lines
3.1 KiB
Python
67 lines
3.1 KiB
Python
"""Actual source hard-domain agreement for every canonical normalized knob."""
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import pytest
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from openpilot.starpilot.flm import canonical_surface_adapter as adapter, torque_surface as source
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def test_raw_domains_bind_exact_existing_universal_defaults_and_limits():
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limits = dict(source._GM_BOUNDS)
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limits.update(ff_gain_left=(-0.4, 0.6), ff_gain_right=(-0.4, 0.6))
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assert len(adapter.RAW_DOMAINS) == 30
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for name, original, hardbounds in adapter.RAW_DOMAINS:
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assert original == source._GM_NEUTRAL[name]
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assert hardbounds == limits[name]
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@pytest.mark.parametrize('name', adapter.NAMES)
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def test_all30_normalization_endpoints_preserve_actual_constructor_domains(name):
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low, high = adapter.coordinate_bounds(name)
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for coordinate in (low, 0.0, high):
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raw = dict(source._GM_NEUTRAL)
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if name in adapter.WINDOWS:
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raw[name] *= 1 + coordinate
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elif name in adapter.DEADBANDS or name == 'low_speed_angle_assist_max_torque':
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# Actual0normalizer mustfreeze output; nonzero normalizers intersect unitraw
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# domains at application rather than confusing coefficient withdegrees/torque.
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for normalizer in (0.0, 0.01, 0.5, 1.0, 10.0, 100.0):
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dl, dh = adapter.dynamic_coordinate_bounds(name, normalizer)
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assert 0 <= dl <= dh <= 0.25
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selected = min(max(coordinate, dl), dh)
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dynamic = dict(raw)
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dynamic[name] = selected * normalizer
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source.GmSurface('torque_universal', dynamic)
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continue
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else:
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raw[name] = coordinate
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source.GmSurface('torque_universal', raw)
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@pytest.mark.parametrize(
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'name,expected', [('center_taper_max', 0.18), ('highway_center_taper_max', 0.18), ('curvy_turn_in_trim_left', 0.20), ('curvy_turn_in_trim_right', 0.20)]
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)
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def test_stored_profile_cannot_admit_raw_amplitudes_above_existing_domain(name, expected):
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assert adapter.coordinate_bounds(name)[1] == expected
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with pytest.raises(ValueError):
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adapter.validate_trial({name: expected + 1e-10})
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values = dict.fromkeys(adapter.NAMES, 0.0)
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values[name] = expected + 1e-10
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with pytest.raises(ValueError):
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adapter.full_profile_sha256('a' * 64, values)
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def test_window_joint_extremes_keep_order_and_rawbounds():
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for a in adapter.coordinate_bounds('curvy_speed_min'):
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for b in adapter.coordinate_bounds('curvy_speed_max'):
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for c in adapter.coordinate_bounds('curvy_turn_in_trim_speed_min'):
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for d in adapter.coordinate_bounds('curvy_turn_in_trim_speed_max'):
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effect = adapter.CanonicalSurfaceEffects(dict(zip(adapter.WINDOWS, (a, b, c, d), strict=True)), 'a' * 64)
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assert effect.surface.knobs['curvy_speed_min'] < effect.surface.knobs['curvy_speed_max']
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assert effect.surface.knobs['curvy_turn_in_trim_speed_min'] < effect.surface.knobs['curvy_turn_in_trim_speed_max']
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def test_true_invalid_dynamic_coordinates_fail_at_actual_hook_without_cap_relaxation():
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effects = adapter.CanonicalSurfaceEffects({'center_deadband_highway_deg': 0.25}, 'a' * 64)
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with pytest.raises(ValueError):
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effects.selected_deadzone(30.0, 0.0, 0.01, 0.1, 0.0, original_anchor=effects.original_effect_anchor)
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assert source._GM_BOUNDS['center_deadband_highway_deg'] == (0.0, 0.08)
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