mirror of
https://github.com/firestar5683/StarPilot.git
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Dom
59 lines
3.5 KiB
Python
59 lines
3.5 KiB
Python
"""Actual wire/parent retention only: no fit, admission, or road qualification."""
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import struct
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.gm.values import CAR
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from openpilot.cereal import messaging
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from openpilot.starpilot.flm.controller_replay import (
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ControllerReplay, MAX_REPLAY_FRAMES, SelectedControllerFactory, capture_snapshot,
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)
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from openpilot.starpilot.flm.fullrate_collector import ControlEvidence
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from openpilot.starpilot.flm.learner_factory import _frame
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from openpilot.starpilot.flm.learning_wire import read_control, write_control
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from openpilot.starpilot.flm.torque_adapter import Objective
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def test_actual_wire_parent_recorder_retains_shared_keys_and_exact_values():
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cp = interfaces[CAR.CHEVROLET_VOLT_ASCM].get_non_essential_params(CAR.CHEVROLET_VOLT_ASCM)
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factory = SelectedControllerFactory(cp, 'starpilot')
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engine = ControllerReplay(factory, Objective('feedforward', 'high', 'steady'))
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first_ns = 10_000_000_000
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engine.checkpoint(first_ns, capture_snapshot(engine.actual, engine.vm))
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assert engine.records.maxlen == MAX_REPLAY_FRAMES == 60_000
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stage = (
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('selected_command', .125), ('effective_factor', float(cp.lateralTuning.torque.latAccelFactor)),
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('offset', float(cp.lateralTuning.torque.latAccelOffset)), ('friction', float(cp.lateralTuning.torque.friction)),
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('pid_pos_limit', 1.), ('pid_neg_limit', -1.), ('actual_delta_ff', 0.), ('actual_delta_threshold', 0.),
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('setpoint', .4),
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)
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for tick in range(80):
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stamp = first_ns + tick * 10_000_000
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inputs = (('control_frame', float(tick + 1)), ('roll', 0.0), ('desired_curvature', .001), ('vEgo', 20.0),
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('signed_zero', -0.0), ('flag', False), ('label', 'unchanged'))
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evidence = ControlEvidence(
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identity='1' * 64, generation=0, control_ns=stamp, state_ns=stamp,
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domain='normalized_torque', stage_revision='retention-only', response_revision='retention-only',
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requested=.125, features=(0.,), baseline_prediction=.125, enabled=True, manual=False, active=True,
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valid=True, override=False, fault=False, saturated=False, limited=False, model_wobble=False,
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controller_chatter=False, stage_schema_revision='torque-selected-stage-snapshot-v1', stage_values=stage,
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controller_mode='starpilot', policy='retention-only', controller_revision='retention-only', replay_inputs=inputs,
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)
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event = messaging.new_message('starpilotLateralState', valid=True, logMonoTime=stamp)
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write_control(event.starpilotLateralState, evidence)
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decoded = read_control(messaging.log_from_bytes(event.to_bytes()))
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assert decoded == evidence
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point = _frame(decoded)
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assert point.inputs is decoded.replay_inputs
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assert engine.record_actual_frame(point)
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assert not engine.failed and len(engine.records) == 80
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first, last = engine.records[0], engine.records[-1]
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assert first.frame_sequence == 1 and last.frame_sequence == 80
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assert first.control_ns == first_ns and last.control_ns == first_ns + 790_000_000
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assert all(a[0] is b[0] for a, b in zip(first.inputs, last.inputs, strict=True))
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assert all(struct.pack('!d', dict(frame.inputs)['signed_zero']) == struct.pack('!d', -0.0) for frame in engine.records)
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assert all(type(dict(frame.inputs)['flag']) is bool and dict(frame.inputs)['flag'] is False for frame in engine.records)
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assert all(dict(frame.inputs)['label'] == 'unchanged' for frame in engine.records)
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# Key sharing cannot bypass the parent's unchanged sequence guard.
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assert not engine.record_actual_frame(last)
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assert engine.failed and len(engine.records) == 80
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