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firestar5683
89 lines
3.9 KiB
Python
89 lines
3.9 KiB
Python
"""Actual evidence_noise labels reach only the declared event trial capture.
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Explicit synthetic producer rows test eligibility, never a native/current fit.
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The original controller_chatter flag remains true on every retained object.
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"""
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from dataclasses import replace
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import pytest
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from openpilot.starpilot.flm.canonical_surface_adapter import GROUPS
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from openpilot.starpilot.flm.event_collector import EventFullrateCollector
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from openpilot.starpilot.flm.event_objective import EffectObjective
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from openpilot.starpilot.flm.evidence_noise import noisy_frames
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from openpilot.starpilot.flm.fullrate_collector import FullrateCollector
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from openpilot.starpilot.flm.tests.test_friction_chatter_contract import noisy_payload
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from openpilot.starpilot.flm.controller_replay import unpack_primitive_snapshot
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from openpilot.starpilot.flm.tests.test_fullrate_pipeline import SyntheticAdapter, snapshots
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ALLOWED = ('center', 'deadband.low', 'deadband.high', 'friction.left', 'friction.right')
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def original_noisy_control(*, model=False):
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payload = noisy_payload(model=model)
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frames = unpack_primitive_snapshot(payload['replay'])['frames']
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labels = noisy_frames(frames, 'normalized_torque')
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frame = frames[-1]
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wobble, chatter = labels[frame['control_ns']]
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assert wobble is model
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if not model:
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assert chatter
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control, _, _ = snapshots(frame['control_ns'])
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return replace(control, requested=frame['actual_command'], model_wobble=wobble,
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controller_chatter=chatter)
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def event_collector(group, control):
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adapter = SyntheticAdapter()
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adapter.target_changed = False
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adapter.restore_envelope = None
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adapter.event_objective = EffectObjective(group, GROUPS[group], 'a' * 64, control.source_epoch)
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return EventFullrateCollector(adapter)
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@pytest.mark.parametrize('group', tuple(GROUPS))
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def test_noise_origin_flag_is_retained_only_by_exact_trial_groups(group):
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control = original_noisy_control()
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collector = event_collector(group, control)
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accepted = collector.control(control, control.control_ns)
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assert accepted is (group in ALLOWED)
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assert control.controller_chatter is True
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if accepted:
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assert collector.controls[control.control_ns] is control
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assert collector.controls[control.control_ns].controller_chatter is True
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else:
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assert not collector.controls and not collector.ready
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assert collector.fit_result is None and collector.result is None
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@pytest.mark.parametrize('group', ALLOWED)
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def test_model_noise_and_restore_remain_rejected_for_chatter_groups(group):
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noisy = original_noisy_control(model=True)
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collector = event_collector(group, noisy)
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assert not collector.control(noisy, noisy.control_ns)
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quiet_model = original_noisy_control()
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collector = event_collector(group, quiet_model)
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collector.adapter.restore_envelope = object() # Presence only, no restore proof.
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assert not collector.control(quiet_model, quiet_model.control_ns)
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assert not collector.controls and quiet_model.controller_chatter
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def test_default_foreign_or_absent_objective_never_retains_chatter():
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control = original_noisy_control()
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assert not FullrateCollector(SyntheticAdapter()).control(control, control.control_ns)
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absent = event_collector('center', control)
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absent.adapter.event_objective = None
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assert not absent.control(control, control.control_ns)
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foreign = event_collector('center', control)
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foreign.adapter.event_objective = EffectObjective('center', GROUPS['center'], 'a' * 64, 'f' * 64)
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assert not foreign.control(control, control.control_ns)
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@pytest.mark.parametrize('field', ('fault', 'override', 'manual', 'saturated', 'limited', 'model_wobble'))
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def test_other_existing_control_exclusions_survive_trial_chatter_capture(field):
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control = replace(original_noisy_control(), **{field: True})
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collector = event_collector('center', control)
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assert not collector.control(control, control.control_ns)
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assert not collector.controls and not collector.ready
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assert collector.fit_result is None and collector.result is None
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