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https://github.com/firestar5683/StarPilot.git
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firestar5683
76 lines
3.1 KiB
Python
76 lines
3.1 KiB
Python
"""Actual normalized Honda rate clipping remains trace context, never a fit row."""
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from dataclasses import replace
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from types import SimpleNamespace
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import pytest
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from openpilot.starpilot.flm.fullrate_collector import AppliedEvidence
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from openpilot.starpilot.flm.torque_eligibility import bounded_context_output, exact_unclipped_pair
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from openpilot.starpilot.flm.torque_emission_replay import Emission, EncoderBranch
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from openpilot.starpilot.flm.tests.test_steering_projection import HONDA, apply, control, install_observer, make_interface, settle
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BASE = 10_000_000_000
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def captured(ci, requested, tick):
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cc = control(requested)
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actuators, packets, witness = apply(ci, cc)
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assert witness is not None
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assert (witness.can_address, witness.can_data, witness.can_bus) in packets
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clipped = witness.unlimited_raw is None
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stamp = BASE + tick * 10_000_000
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event = Emission(stamp, stamp, stamp + 1_000_000, witness, 'a' * 64, 'b' * 64, 'c' * 64,
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True, True, False, False, clipped, True, False, 0, 0, '')
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output = AppliedEvidence(stamp, stamp, stamp + 1_000_000, 'normalized_torque',
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float(actuators.torque), True, True, False, False, clipped, True, witness)
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return cc, event, output
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def fixture():
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ci = make_interface(HONDA.HONDA_CIVIC)
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assert install_observer(ci)
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settle(ci, control(0.))
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return ci
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def test_original_rate_clipped_honda_sequence_reproduces_real_normalized_state():
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ci, branch = fixture(), EncoderBranch()
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for tick in range(16):
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_, event, output = captured(ci, .8, tick)
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assert event.limited and event.witness.unlimited_raw is None
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assert bounded_context_output(output)
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assert branch.step(event, event.witness.requested_torque, actual=True) is not None
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assert branch.previous == ci.CC.last_torque
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# This output remains clipped even though the trace is now replayable.
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assert output.limited
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hint = SimpleNamespace(limited=True, domain='normalized_torque',
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stage_schema_revision='pid-selected-stage-snapshot-v2', saturated=False,
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replay_inputs=(('curvature_limited', 0.),))
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assert not exact_unclipped_pair(hint, output)
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@pytest.mark.parametrize('candidate', [1., -.8])
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def test_candidate_cannot_increase_or_reverse_original_normalized_clipping(candidate):
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ci = fixture()
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_, event, _ = captured(ci, .8, 0)
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with pytest.raises(ValueError, match='clipping regression'):
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EncoderBranch().step(event, candidate)
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def test_smaller_same_direction_demand_retains_native_rate_limit():
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ci = fixture()
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_, event, _ = captured(ci, .8, 0)
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branch = EncoderBranch()
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result = branch.step(event, .4)
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assert result is not None
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assert branch.previous == ci.CC.last_torque
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def test_lost_health_wrong_codec_and_unlimited_rows_are_not_clipped_context():
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ci = fixture()
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_, event, output = captured(ci, .8, 0)
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assert not bounded_context_output(replace(output, native_allowed=False))
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assert not bounded_context_output(replace(output, fault=True))
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assert not bounded_context_output(replace(output, limited=False))
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assert not bounded_context_output(replace(output, projection=event.witness._replace(mapping_kind='round')))
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