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firestar5683
73 lines
3.2 KiB
Python
73 lines
3.2 KiB
Python
from dataclasses import replace
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import pytest
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from openpilot.starpilot.flm.physical_response import PhysicalRow, fit_physical
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def rows():
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return tuple(PhysicalRow(str(block), 1_000_000_000 + (block * 40 + index) * 50_000_000,
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1_110_000_000 + (block * 40 + index) * 50_000_000,
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(-1 if block % 2 else 1) * (.1 + index * .005),
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2 * (-1 if block % 2 else 1) * (.1 + index * .005) + .01,
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'stable_vm_roll_lag', 'right' if block % 2 else 'left', True, False, False)
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for block in range(8) for index in range(40))
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def fit(data=None, **kwargs):
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return fit_physical('a' * 64, 'normalized_torque', 'stable_vm_roll_lag', rows() if data is None else data,
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lag_ns=100_000_000, min_excitation=.05, max_rmse=.001, now_ns=18_000_000_000, **kwargs)
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def test_physical_plant_separate_heldout_and_no_extrapolation():
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model = fit()
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assert model is not None
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assert model.slope == pytest.approx(2.)
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assert model.intercept == pytest.approx(.01)
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assert set(model.train_blocks).isdisjoint(model.heldout_blocks)
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assert model.inverse(.41) == pytest.approx(.2)
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assert model.inverse(100.) is None
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@pytest.mark.parametrize('mutation', [{'healthy': False}, {'overridden': True}, {'saturated': True},
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{'context': 'new_vm'}, {'response_ns': 1}, {'command': float('nan')}])
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def test_invalid_actual_source_rejected(mutation):
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data = list(rows())
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data[0] = replace(data[0], **mutation)
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assert fit(tuple(data)) is None
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def test_join_retains_actual_timestamp_and_bounds_hold_age():
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data = rows()
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assert fit(tuple(replace(row, response_ns=row.command_ns + 130_000_000) for row in data)) is not None
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assert fit(tuple(replace(row, response_ns=row.command_ns + 130_000_001) for row in data)) is None
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assert fit(tuple(replace(row, response_ns=row.command_ns + 99_999_999) for row in data)) is None
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def test_train_maturity_and_direction_required():
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data = tuple(row for index, row in enumerate(rows()) if index != 0)
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assert fit(data) is None
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assert fit(tuple(replace(row, direction='left') for row in rows())) is None
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def test_noise_confounding_and_unobserved_range_rejected():
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data = rows()
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assert fit(tuple(replace(row, command=.1) for row in data)) is None
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assert fit(tuple(replace(row, physical_response=-row.physical_response) for row in data)) is None
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assert fit(tuple(replace(row, physical_response=row.physical_response + (.1 if row.block_id == '7' else 0)) for row in data)) is None
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assert fit(tuple(replace(row, command=10.) if row.block_id == '7' else row for row in data)) is None
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def test_history_is_bounded_without_rejecting_mature_training():
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assert fit() is not None
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assert fit(history_ns=1_000_000_000) is None
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assert fit(history_ns=600_000_000_001) is None
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assert fit(tuple(replace(row, response_ns=18_000_000_001) for row in rows())) is None
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def test_block_upper_bound():
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data = rows()
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first = tuple(replace(data[0], command_ns=1_000_000_000 + index * 1_000_000,
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response_ns=1_110_000_000 + index * 1_000_000) for index in range(241))
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assert fit(first + tuple(row for row in data if row.block_id != '0')) is None
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