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firestar5683
46 lines
2.3 KiB
Python
46 lines
2.3 KiB
Python
"""Whole-event independence cannot be fabricated by interrupted neutral periods."""
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from types import SimpleNamespace
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from openpilot.starpilot.flm.event_windows import whole_event_windows
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from openpilot.starpilot.flm.event_episodes import tracking_episodes
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BASE = 1_000_000_000
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def trajectory(final_neutral):
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values = ([.4] * 70 + [0.] * 40 + [.4] * 50 + [0.] * final_neutral)
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frames = [SimpleNamespace(control_ns=BASE + index * 10_000_000, desired_physical_accel=value,
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inputs=(('vEgo', 30.),)) for index, value in enumerate(values)]
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return SimpleNamespace(records=frames, replay_windows=((frames[0].control_ns, frames[-1].control_ns),),
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_frame_context=lambda _: True, identity='a' * 64, baseline_revision='b' * 64)
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def test_interrupted_neutral_timer_does_not_split_one_large_maneuver():
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unfinished = trajectory(11)
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assert whole_event_windows(unfinished) == ()
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finished = trajectory(51)
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events = whole_event_windows(finished)
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assert len(events) == 1 and events[0][1] == BASE
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assert events[0][2] == finished.records[-1].control_ns
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def test_tracking_attempt_count_uses_same_contiguous_neutral_recovery():
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objective = SimpleNamespace(group='ff.left', names=('ff_gain_left',), anchor_digest='c' * 64, context_key='d' * 64,
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parameters=(SimpleNamespace(excitation_floor=.01),))
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model = SimpleNamespace(heldout_rmse=.001)
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for neutral, expected in ((11, 0), (51, 1)):
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engine = trajectory(neutral)
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samples = tuple({'control_ns': frame.control_ns, 'apply_ns': frame.control_ns + 20_000_000,
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'control': {'stage_values': (('setpoint', frame.desired_physical_accel),)},
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'physical': {'lateral_accel': -.2}} for frame in engine.records[::5])
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# Declared unit basis only: each sampled endpoint has a visible derivative.
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# This shell does not claim native qualification or current authority.
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engine.projected = {row['apply_ns']: (0., (1.,)) for row in samples}
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blocks = ({'block_id': 'whole-physical-turn', 'samples': samples},)
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episodes = tracking_episodes(engine, blocks, model, objective)
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assert len(episodes) == expected
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if episodes:
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assert episodes[0]['block_ids'] == ('whole-physical-turn',)
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engine.projected.clear()
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assert tracking_episodes(engine, blocks, model, objective) == () # No encoded basis, no counted episode.
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