mirror of
https://github.com/firestar5683/StarPilot.git
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Dom
76 lines
4.0 KiB
Python
76 lines
4.0 KiB
Python
"""Real controller checkpoints recover after missing optional evidence."""
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from unittest import mock
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import pytest
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.hyundai.values import CAR as HKG
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from opendbc.car.toyota.values import CAR as TOYOTA
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from opendbc.car.honda.values import CAR as HONDA
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from openpilot.cereal import messaging
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from openpilot.starpilot.flm.learning_wire import read_control
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from openpilot.starpilot.flm.runtime_adapter_registry import objective_key
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from openpilot.starpilot.flm.steerlearnerd import production_adapter_for_evidence
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from openpilot.starpilot.flm.tests.test_registered_controls_global import controls_for
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from openpilot.starpilot.flm.tests.test_live_calibration_paths import live_frame, BASE
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@pytest.mark.parametrize('vehicle,mode', [(HKG.HYUNDAI_IONIQ_6, 'starpilot'),
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(TOYOTA.TOYOTA_RAV4_TSS2, 'standard'), (HONDA.HONDA_CIVIC, None)])
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@pytest.mark.parametrize('missing', ['vehicle_health', 'stage_trace'])
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def test_actual_capture_resumes_with_original_checkpoint(vehicle, mode, missing):
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cp = interfaces[vehicle].get_non_essential_params(vehicle)
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with controls_for(cp, mode, True) as controls:
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adapter = None
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previous = None
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before = controls.CP.as_builder().to_bytes()
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for tick in range(165):
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now = BASE + tick * 10_000_000
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output = live_frame(controls, tick, 'a' * 32, can_valid=not (tick == 145 and missing == 'vehicle_health'))
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runtime = controls.global_learning
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if tick == 145 and missing == 'stage_trace':
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runtime.observation.stage = None
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controls.pm.send.reset_mock()
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# Publication stamps use the same synthetic clock as controller preparation.
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with (
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mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=now),
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mock.patch('openpilot.cereal.messaging.time.monotonic', return_value=now / 1e9),
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):
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controls.publish(*output)
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event = next(call.args[1] for call in controls.pm.send.call_args_list if call.args[0] == 'starpilotLateralState')
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event = messaging.log_from_bytes(event.to_bytes())
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if tick == 145:
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assert event.starpilotLateralState.learningEvidence.version == 0
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assert runtime.applied_coordinates == (0., 0.)
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continue
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if not event.starpilotLateralState.learningEvidence.version:
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assert tick < 100
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continue
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evidence = read_control(event)
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if tick < 100:
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continue
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if adapter is None:
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if not evidence.replay_snapshot:
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continue
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adapter = production_adapter_for_evidence(controls.CP, evidence, objective_key(evidence), source=runtime.source)
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assert adapter is not None
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if tick == 146:
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assert evidence.replay_snapshot, 'Missing frames require a fresh actual pre-update state'
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assert previous is not None and evidence.snapshot_sequence == previous.snapshot_sequence + 1
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prepared = adapter.prepare_control(evidence)
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if prepared is None:
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from openpilot.starpilot.flm.learner_factory import _frame
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from openpilot.starpilot.flm.native_refinement_wire import valid_inputs
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actual = _frame(evidence)
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print('DIAG', tick, 'frame', actual.frame_sequence, 'last', adapter.replay.last_sequence,
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'stamp', actual.control_ns, 'last_ns', adapter.replay.last_ns, 'checkpoint', adapter.replay.checkpoint_ns,
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'inputs_valid', valid_inputs(actual.inputs), 'snapshot_sequence', evidence.snapshot_sequence,
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'adapter_sequence', adapter.snapshot_sequence, 'evidence_identity', evidence.identity,
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'adapter_identity', adapter.identity, 'stage', evidence.stage_schema_revision, adapter.raw_stage_revision)
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assert prepared is not None, (tick, adapter.replay.failed)
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if tick > 146:
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assert not evidence.replay_snapshot, 'Continuous recovery must not copy a checkpoint every frame'
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previous = evidence
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assert adapter is not None and len(adapter.replay.records) >= 30
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assert controls.CP.as_builder().to_bytes() == before
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assert runtime.applied_coordinates == (0., 0.)
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