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Dom
39 lines
1.9 KiB
Python
39 lines
1.9 KiB
Python
"""Model noise remains ineligible even for explicitly retained controller chatter."""
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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.controller_replay import pack_primitive_snapshot
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from openpilot.starpilot.flm.event_objective import EffectObjective
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from openpilot.starpilot.flm.evidence_noise import reject_noisy_job
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def noisy_payload(*, model=False):
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frames = []
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points = []
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for i in range(101):
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goal = (.2 if i % 10 < 5 else -.2) if model else .6
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command = .2 if i % 10 < 5 else -.2
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inputs = (('raw_model_curvature', goal / 900.), ('vEgo', 30.))
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frames.append({'control_ns': 1_000_000_000 + i * 10_000_000, 'inputs': inputs, 'actual_command': command})
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points.append({'control_ns': frames[-1]['control_ns'],
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'control': {'replay_inputs': inputs, 'requested': command}})
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return {'replay': pack_primitive_snapshot({'frames': frames}), 'raw_blocks': [{'samples': points}]}
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@pytest.mark.parametrize('group', tuple(GROUPS))
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def test_exact_canonical_objective_only_retains_expected_chatter(group):
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objective = EffectObjective(group, GROUPS[group], 'a' * 64, 'b' * 64)
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permitted = group in ('center', 'deadband.low', 'deadband.high', 'friction.left', 'friction.right')
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assert objective.retains_controller_chatter is permitted
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assert reject_noisy_job(noisy_payload(), retain_centre_chatter=objective.retains_controller_chatter) == (
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None if permitted else 'controller_chatter')
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assert reject_noisy_job(noisy_payload(model=True), retain_centre_chatter=objective.retains_controller_chatter) == 'model_goal_wobble'
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def test_nonfriction_coordinates_cannot_claim_friction_contract():
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objective = EffectObjective('friction.left', GROUPS['friction.left'], 'a' * 64, 'b' * 64)
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with pytest.raises(ValueError, match='canonical event group'):
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replace(objective, names=GROUPS['ff.left'])
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