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https://github.com/firestar5683/StarPilot.git
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firestar5683
58 lines
3.2 KiB
Python
58 lines
3.2 KiB
Python
"""Actual registered Controls PID collection; no learned-profile admission claim."""
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import pytest
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from opendbc.car import structs, gen_empty_fingerprint
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.honda.values import CAR as HONDA
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from opendbc.car.gm.values import CAR as GM, CanBus
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from opendbc.car.gm.radar_interface import RADAR_HEADER_MSG
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from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from openpilot.starpilot.flm.pid_stages import PidObservation, REVISION, SUPPORTED, UNSUPPORTED
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from openpilot.starpilot.flm.tests.test_registered_controls_global import controls_for, frame
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@pytest.mark.parametrize('platform', (HONDA.HONDA_CIVIC, HONDA.HONDA_CIVIC_BOSCH,
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HONDA.HONDA_PILOT_4G, HONDA.ACURA_TLX_2G_MMR, GM.CADILLAC_ESCALADE_ESV))
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def test_actual_controls_pid_collects_own_trace_without_changing_disabled_baseline(platform):
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if platform==GM.CADILLAC_ESCALADE_ESV:
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fingerprint=gen_empty_fingerprint()
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fingerprint[CanBus.OBSTACLE][RADAR_HEADER_MSG]=8
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cp=interfaces[platform].get_params(platform,fingerprint,[],False,False,False)
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assert not cp.radarUnavailable and not cp.dashcamOnly
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else:
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cp=interfaces[platform].get_non_essential_params(platform)
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assert cp.steerControlType==structs.CarParams.SteerControlType.torque
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assert cp.lateralTuning.which()=='pid'
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with controls_for(cp,enabled=False) as baseline, controls_for(cp,enabled=True) as candidate:
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assert type(candidate.LaC) is LatControlPID
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runtime=candidate.global_learning
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assert runtime.descriptor is not None and runtime.descriptor.domain=='torque_pid'
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assert type(runtime.observation) is PidObservation
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assert len(SUPPORTED)==26 and len(UNSUPPORTED)==4
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original=candidate.CP.as_builder().to_bytes()
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emitted_snapshots=[]
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for tick in range(35):
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now=400_000_000_000+tick*10_000_000
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expected,_=frame(baseline,now,tick)
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actual,_=frame(candidate,now,tick)
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if runtime.snapshot:
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emitted_snapshots.append(runtime.snapshot)
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assert actual.to_dict()==expected.to_dict()
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assert candidate.LaC.pid.i==baseline.LaC.pid.i
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assert candidate.LaC.ff_factor==baseline.LaC.ff_factor
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assert candidate.CP.as_builder().to_bytes()==original
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evidence=runtime.capture_evidence(control_ns=now,state_ns=now,active=True,limited=False)
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assert evidence is not None
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assert evidence.stage_schema_revision==REVISION
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stage=dict(evidence.stage_values)
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assert 'friction' not in stage and 'effective_factor' not in stage
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assert 'angle_error_deg' in stage and 'baseline_ff' in stage
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assert all(name in stage for name in ('learned_error_deg','deadband_deg','deadband_normalizer_deg'))
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assert evidence.domain=='normalized_torque'
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assert evidence.effect_trace is None
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# Check the actual emitted checkpoint, not an arbitrary inter-checkpoint
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# frame: the production wire publishes frozen state once per second.
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assert emitted_snapshots and runtime.snapshot_sequence>0
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assert all(any(name=='controller.ff_factor' for name,_ in snapshot) for snapshot in emitted_snapshots)
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assert all(not any(name.startswith('tune.') for name,_ in snapshot) for snapshot in emitted_snapshots)
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assert runtime.replay_inputs
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