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https://github.com/firestar5683/StarPilot.git
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firestar5683
200632aabd
Learn bounded feed-forward corrections on eligible torque controllers behind Use StarPilot Auto Learn, preserving installed tunes and native safety limits. Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: whoisdomi <dcantu83@gmail.com>
60 lines
3.1 KiB
Python
60 lines
3.1 KiB
Python
from types import SimpleNamespace
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import pytest
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from openpilot.starpilot.flm.adaptive_profile import ApplicationOutcome
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from openpilot.starpilot.flm.learned_lifecycle import decode, display, historical, remember, reset_scope
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def profile(identity='a' * 64):
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parameter = SimpleNamespace(name='gain', stage_revision='actual-stage-v1', low=-0.1, high=0.1, max_step=0.1)
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return SimpleNamespace(identity=identity, policy='passive_stage_ridge_v1', parameters=(parameter,), coefficients=(0.02,))
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def test_scoped_history_and_reset_do_not_create_receipt():
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first, second = profile(), profile('b' * 64)
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raw = remember(None, first, reset='generation1', validation_sha256='c' * 64)
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raw = remember(raw, second, reset='generation1', validation_sha256='d' * 64)
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assert historical(raw, identity=first.identity, parameters=first.parameters, reset='generation1') == (0.02,)
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assert historical(raw, identity=first.identity, parameters=first.parameters, reset='generation2') is None
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raw = reset_scope(raw, first.identity)
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assert historical(raw, identity=first.identity, parameters=first.parameters, reset='generation1') is None
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assert historical(raw, identity=second.identity, parameters=second.parameters, reset='generation1') == (0.02,)
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assert 'expires_ns' not in next(iter(decode(raw)['profiles'].values()))
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@pytest.mark.parametrize('raw', [b'{"version":1,"version":1,"profiles":{}}', b'{"version":true,"profiles":{}}', b'x' * 32769])
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def test_corrupt_document_refused(raw):
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with pytest.raises(ValueError):
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decode(raw)
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def test_applied_status_requires_current_actual_outcome():
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args = {'identity': 'a' * 64, 'now_ns': 100, 'enabled': True, 'manual': False, 'eligible': True, 'active': True, 'healthy': True}
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assert display(**args, collecting=True)[0] == 'collecting'
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application = ApplicationOutcome('a' * 64, 1, 90, 'applied', (0.02,), 'actual_stage', 'baseline-v1', 'physical-v1')
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assert display(**args, application=application)[0] == 'applied'
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for change in (
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{'now_ns': 500_000_091},
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{'manual': True},
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{'enabled': False},
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{'eligible': False},
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{'active': False},
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{'healthy': False},
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{'identity': 'b' * 64},
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):
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assert display(**(args | change), application=application)[0] == 'paused'
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def test_multiple_objectives_keep_distinct_priors_and_exact_stage_binding():
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first = profile()
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second = profile()
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second.parameters = (SimpleNamespace(name='center', stage_revision='center-v1', low=-0.1, high=0.1, max_step=0.1),)
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second.coefficients = (0.03,)
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raw = remember(None, first, reset='generation1', validation_sha256='c' * 64)
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raw = remember(raw, second, reset='generation1', validation_sha256='d' * 64)
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assert len(decode(raw)['profiles']) == 2
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assert historical(raw, identity=first.identity, parameters=first.parameters, reset='generation1') == (0.02,)
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assert historical(raw, identity=second.identity, parameters=second.parameters, reset='generation1') == (0.03,)
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wrong = (SimpleNamespace(name='center', stage_revision='center-v2', low=-0.1, high=0.1, max_step=0.1),)
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assert historical(raw, identity=second.identity, parameters=wrong, reset='generation1') is None
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assert decode(reset_scope(raw, first.identity))['profiles'] == {}
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