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firestar5683
200632aabd
Learn bounded feed-forward corrections on eligible torque controllers behind Use StarPilot Auto Learn, preserving installed tunes and native safety limits. Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: whoisdomi <dcantu83@gmail.com>
42 lines
1.5 KiB
Python
42 lines
1.5 KiB
Python
"""Causal whole-maneuver regression; no native runtime or substituted clocks."""
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import unittest
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from openpilot.starpilot.flm.evidence_phases import stage_blocks
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def block(name, first):
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return {
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'block_id': name,
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'samples': tuple({'control_ns': first + index * 10, 'apply_ns': first + index * 10 + 1, 'mono_ns': first + index * 10 + 101} for index in range(80)),
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}
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class CausalPhaseTests(unittest.TestCase):
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def test_whole_boundary_block_quarantined_without_row_mutation(self):
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raw = (block('calibration', 100), block('boundary', 900), block('fresh', 2000))
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accepted, boundary = stage_blocks(raw, 1, 1000)
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self.assertEqual(boundary, ('boundary',))
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self.assertEqual(accepted, (raw[2],))
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self.assertIs(accepted[0], raw[2])
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self.assertEqual(len(raw[1]['samples']), 80)
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self.assertEqual(raw[1]['samples'][0]['control_ns'], 900)
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def test_equal_cutoff_never_becomes_stage_evidence(self):
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accepted, boundary = stage_blocks((block('equal', 1000),), 0, 1000)
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self.assertEqual(accepted, ())
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self.assertEqual(boundary, ('equal',))
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def test_all_three_original_support_clocks_must_be_ordered(self):
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bad = block('bad', 2000)
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bad['samples'] = ({'control_ns': 2000, 'apply_ns': 1999, 'mono_ns': 2100},)
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with self.assertRaises(ValueError):
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stage_blocks((bad,), 0, 1000)
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def test_empty_block_cannot_manufacture_maturity(self):
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with self.assertRaises(ValueError):
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stage_blocks(({'block_id': 'empty', 'samples': ()},), 0, 1)
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if __name__ == '__main__':
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unittest.main()
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