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https://github.com/firestar5683/StarPilot.git
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firestar5683
100 lines
5.1 KiB
Python
100 lines
5.1 KiB
Python
"""Real selected LaC/native calls; unit-issued live witness is not physical proof."""
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from dataclasses import replace
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from types import SimpleNamespace
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import math
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import pytest
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from openpilot.starpilot.flm.live_trial_owner import TrackingTrialOwner
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from openpilot.starpilot.flm.tests.test_live_trial_owner import offer
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@pytest.mark.parametrize('domain', ['torque', 'starpilot', 'pid'])
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@pytest.mark.parametrize('curvature', [-0.0003, 0.0003])
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def test_actual_controller_hooks_and_native_packet_are_preserved(domain, curvature):
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from openpilot.starpilot.flm.controller_replay import SelectedControllerFactory
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from openpilot.starpilot.flm.pid_controller_replay import PidControllerFactory
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from openpilot.starpilot.flm.tests.test_event_lazy_native import TOYOTA, HYUNDAI, HONDA, make_interface, install_observer, settle, control, apply, BASE_NS
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platform = {'torque': TOYOTA.TOYOTA_COROLLA_TSS2, 'starpilot': HYUNDAI.HYUNDAI_IONIQ_6, 'pid': HONDA.HONDA_CIVIC}[domain]
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ci = make_interface(platform)
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assert install_observer(ci)
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settle(ci, control(0.0))
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factory = PidControllerFactory(ci.CP, 'native') if domain == 'pid' else SelectedControllerFactory(ci.CP, 'starpilot' if domain == 'starpilot' else 'standard')
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controller, vm = factory.create()
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from openpilot.starpilot.flm.global_runtime import GlobalRuntime
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runtime = GlobalRuntime(ci.CP, ci, controller)
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assert runtime.descriptor is not None
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assert runtime.descriptor.domain == ('torque_pid' if domain == 'pid' else 'torque')
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assert controller.automatic_flm_observation is runtime.observation and runtime.observation is not None
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if domain != 'pid':
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assert controller.automatic_flm_stages is runtime and controller.automatic_flm_centre is runtime
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start = BASE_NS + ci.CC.frame * 10_000_000
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o = offer(start)
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owner = TrackingTrialOwner(o.binding, domain='torque_pid' if domain == 'pid' else 'torque')
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seen = 0
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from openpilot.starpilot.flm.live_tracking_response import ResponseWitness, prepare_response_witness, validate_response_witness
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raw = validate_response_witness(o.response_witness, o.binding, start)
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for tick in range(120):
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now = start + tick * 10_000_000
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if tick % 5 == 0:
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w = prepare_response_witness(
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ResponseWitness(
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raw.certificate, o.binding, now - raw.certificate.lag_ns, now - raw.certificate.lag_ns, now, start - 500_000_000, 8, 0.001, now + 100_000_000
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),
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o.binding,
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now,
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)
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current = replace(o, sequence=tick // 5 + 1, observed_ns=now, expires_ns=now + 100_000_000, response_witness=w)
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assert owner.prepare(current, now_ns=now, permission=True, binding=o.binding)
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runtime.observation.begin_frame()
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controller.automatic_flm_effects = owner
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result, _, _ = controller.update(True, ci.CS.out, vm, SimpleNamespace(angleOffsetDeg=0.0, roll=0.0), False, curvature, False, 0.2)
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assert math.isfinite(float(result)) and abs(float(result)) <= 1.0
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assert owner.used and owner.source.stage_calls == 1
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assert owner.frame_complete(owner.domain)
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ack = owner.acknowledge_frame(True)
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assert ack is not None and ack.status == 'applied'
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if domain == 'pid':
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assert owner.source.pid_error_calls == 1
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else:
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assert owner.source.friction_calls == 1
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_, packets, witness = apply(ci, control(float(result)))
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if witness is not None:
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seen += 1
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assert (witness.can_address, witness.can_data, witness.can_bus) in packets
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assert seen > 0
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assert owner.applied_full['ff_gain_left'] == pytest.approx(0.005)
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# A confirmed acknowledgement requires the actual domain hooks again.
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now = start + 1_200_000_000
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w = prepare_response_witness(
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ResponseWitness(
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raw.certificate, o.binding, now - raw.certificate.lag_ns, now - raw.certificate.lag_ns, now, start - 500_000_000, 8, 0.001, now + 100_000_000
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),
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o.binding,
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now,
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)
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confirmed = replace(o, phase='confirmed', sequence=25, observed_ns=now, expires_ns=now + 100_000_000, response_witness=w)
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assert owner.prepare(confirmed, now_ns=now, permission=True, binding=o.binding)
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runtime.observation.begin_frame()
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controller.automatic_flm_effects = owner
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controller.update(True, ci.CS.out, vm, SimpleNamespace(angleOffsetDeg=0.0, roll=0.0), False, curvature, False, 0.2)
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ack = owner.acknowledge_frame(True)
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assert ack is not None and ack.status == 'applied' and ack.confirmed_target_sha256 == o.target_sha256
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assert owner.confirmed_full == o.target
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owner.neutral('driver_override')
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controller.automatic_flm_effects = owner
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assert owner.source is None and not any(owner.applied_full.values())
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assert owner.acknowledge_frame(True) is None
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def test_pid_registry_keeps26_and_exact4_unsupported():
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from openpilot.starpilot.flm.pid_stages import SUPPORTED, UNSUPPORTED
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from openpilot.starpilot.flm.canonical_surface_adapter import NAMES
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assert len(NAMES) == 30 and len(SUPPORTED) == 26 and len(UNSUPPORTED) == 4
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assert set(SUPPORTED) | set(UNSUPPORTED) == set(NAMES)
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assert UNSUPPORTED == frozenset(
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('turn_in_threshold_reduction_left', 'turn_in_threshold_reduction_right', 'unwind_threshold_increase_left', 'unwind_threshold_increase_right')
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)
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