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firestar5683
24 lines
1.2 KiB
Python
24 lines
1.2 KiB
Python
"""A dead native direction must not monopolize another measurable correction."""
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from dataclasses import replace
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from openpilot.starpilot.flm.live_trial_contract import MAX_STEP
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from openpilot.starpilot.flm.tests.test_live_tracking import episode
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from openpilot.starpilot.flm.tests.test_tracking_source_context import owner, refresh
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from openpilot.starpilot.flm.tests.test_directional_native_visibility import feature
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def test_quantized_preference_allows_a_different_measurable_calming_hook():
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o = owner()
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for i in range(40):
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e = episode(o, i, 'center_taper_max', kind='subtle')
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dead = feature(error=-0.5)
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center = feature(name='center_taper_max', error=0.05)
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e = replace(e, sensitivity=(dead, center), normalization_accel=max(0.1, e.goal_rms))
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refresh(o, e.end_ns)
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o.observe_episode(e, now_ns=e.end_ns)
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if o.offer_state is not None:
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break
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assert o.offer_state is not None
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assert o.offer_state['names'] == ('center_taper_max',)
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assert o.offer_state['target']['center_taper_max'] == MAX_STEP
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assert o.offer_state['target']['ff_gain_right'] == 0.0
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assert not o.offer_state.get('accepted', False) and (not any(o.accepted.values()))
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