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firestar5683
141 lines
7.0 KiB
Python
141 lines
7.0 KiB
Python
"""Real encoder and child-worker tests; no claim of route or physical fit."""
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from dataclasses import replace
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import pytest
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from opendbc.car.toyota.values import CAR
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from opendbc.car.steering_projection import inspect_projection
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from openpilot.starpilot.flm.fullrate_collector import AppliedEvidence
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from openpilot.starpilot.flm.torque_emission_replay import EmissionHistory, EncoderBranch
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from openpilot.starpilot.flm.torque_eligibility import bounded_context_output, exact_unclipped_pair
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from openpilot.starpilot.flm.tests.test_torque_emission_join import BASE, actual_public_health, cc, interface, settle, source
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from openpilot.starpilot.flm.tests import test_actual_raw_worker as raw_worker
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def clipped_context(tmp_path):
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ci = interface(CAR.TOYOTA_COROLLA_TSS2)
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settle(ci, cc(0.0))
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limits = ci.CC.params
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command = cc((limits.STEER_DELTA_UP + 1) / limits.STEER_MAX)
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for _ in range(5):
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stamp = BASE + ci.CC.frame * 10_000_000
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output, packets = ci.apply(command, stamp)
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witness = ci.CC.learning_projection
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if witness is not None and witness.unlimited_raw != witness.final_raw:
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break
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else:
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raise AssertionError('actual registered encoder did not clip')
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assert (witness.can_address, witness.can_data, witness.can_bus) in packets
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assert inspect_projection(ci, command, output, witness) is False
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control = source(ci, tmp_path, float(command.actuators.torque), stamp)
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health = actual_public_health(ci.CP, stamp)
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evidence = AppliedEvidence(stamp, stamp - 1, stamp, 'normalized_torque', float(output.torque),
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True, True, False, False, True, health, witness, ci.CC.frame, stamp)
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return ci, control, evidence
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def test_actual_clipped_emission_is_context_not_estimation(tmp_path):
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ci, control, output = clipped_context(tmp_path)
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assert bounded_context_output(output)
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assert not exact_unclipped_pair(control, output)
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history = EmissionHistory(ci.CP, identity=control.identity, baseline_revision=control.baseline_revision)
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assert history.record_carrier(output) and history.record(control, output)
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event = history.event(control.control_ns)
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history.verify(control, output)
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actual = EncoderBranch()
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actual.step(event, control.requested, actual=True)
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assert actual.previous == output.projection.final_raw
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assert event.limited and output.limited # original observations stay immutable
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def test_candidate_cannot_increase_clipping_in_context(tmp_path):
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ci, control, output = clipped_context(tmp_path)
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history = EmissionHistory(ci.CP, identity=control.identity, baseline_revision=control.baseline_revision)
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assert history.record_carrier(output) and history.record(control, output)
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event = history.event(control.control_ns)
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branch = EncoderBranch()
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with pytest.raises(ValueError, match='clipping regression'):
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branch.step(event, control.requested + 5 / output.projection.effective_max)
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@pytest.mark.parametrize('field', ('fault', 'override'))
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def test_clipped_context_never_relaxes_fault_or_override(tmp_path, field):
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ci, control, output = clipped_context(tmp_path)
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changed = replace(output, **{field: True})
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assert not bounded_context_output(changed)
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history = EmissionHistory(ci.CP)
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assert history.record_carrier(changed)
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assert not history.record(control, changed)
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def test_actual_raw_child_accepts_exact_false_hint_without_rewriting_inputs(monkeypatch):
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original = raw_worker.ControlEvidence
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observed = []
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def asynchronous_hint(**kwargs):
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evidence = original(**kwargs)
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assert not dict(evidence.replay_inputs)['safety_limited']
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changed = replace(evidence, limited=True)
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assert changed.replay_inputs == evidence.replay_inputs
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observed.append(changed)
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return changed
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monkeypatch.setattr(raw_worker, 'ControlEvidence', asynchronous_hint)
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raw_worker.test_actual_raw_registered_worker_report_reaches_controls()
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assert len(observed) == 3200 and all(row.limited for row in observed)
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def test_exact_unclipped_hint_keeps_original_source_native_deadlines(tmp_path):
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from types import SimpleNamespace
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from openpilot.starpilot.flm.tests.test_torque_emission_join import emitted
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ci = interface(CAR.TOYOTA_COROLLA_TSS2)
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settle(ci, cc(0.01))
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control, output = emitted(ci, cc(0.01), tmp_path)
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control = SimpleNamespace(**vars(control), limited=True, saturated=False, domain='normalized_torque',
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stage_schema_revision='torque-selected-stage-snapshot-v1',
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replay_inputs=(('curvature_limited', 0.0),), state_ns=output.state_ns,
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source_receipt_ns=control.control_ns - 1)
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assert exact_unclipped_pair(control, output)
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assert control.limited and not output.limited
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old_source = SimpleNamespace(**{**vars(control), 'source_receipt_ns': control.control_ns - 500_000_001})
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assert not exact_unclipped_pair(old_source, output)
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assert not exact_unclipped_pair(control, replace(output, state_ns=control.state_ns + 30_000_001,
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apply_ns=control.control_ns + 30_000_002))
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native = SimpleNamespace(**{**vars(control), 'native_required': True, 'native_allowed': True,
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'native_identity': 'a' * 64, 'native_observed_ns': control.control_ns - 1,
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'native_expires_ns': output.apply_ns})
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assert exact_unclipped_pair(native, output)
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assert not exact_unclipped_pair(native, replace(output, apply_ns=output.apply_ns + 1))
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assert not exact_unclipped_pair(SimpleNamespace(**{**vars(control), 'replay_inputs': (('curvature_limited', 1.0),)}), output)
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def test_candidate_cannot_reverse_context_clipping_sign(tmp_path):
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ci, control, output = clipped_context(tmp_path)
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history = EmissionHistory(ci.CP)
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assert history.record_carrier(output) and history.record(control, output)
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with pytest.raises(ValueError, match='clipping regression'):
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EncoderBranch().step(history.event(control.control_ns), -0.1)
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def test_candidate_uses_own_previous_state_for_context_demand(tmp_path):
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ci, control, output = clipped_context(tmp_path)
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history = EmissionHistory(ci.CP)
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assert history.record_carrier(output) and history.record(control, output)
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branch = EncoderBranch()
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branch.previous = output.projection.previous_torque - 20
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with pytest.raises(ValueError, match='clipping regression'):
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branch.step(history.event(control.control_ns), control.requested)
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def test_clipping_guard_runs_in_unscored_warmup_context(tmp_path):
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ci, control, output = clipped_context(tmp_path)
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history = EmissionHistory(ci.CP)
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assert history.record_carrier(output) and history.record(control, output)
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history.verify(control, output)
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# The only emission precedes the scored window; it still advances encoder
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# state and must enforce candidate demand rather than disappearing as warmup.
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window = ((control.control_ns + 1, control.control_ns + 10_000_000),)
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with pytest.raises(ValueError, match='clipping regression'):
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history.rollout({control.control_ns: control.requested + 5 / output.projection.effective_max},
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control.control_ns, control.control_ns, window)
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