mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-14 22:02:09 +08:00
firestar5683
262 lines
8.9 KiB
Python
262 lines
8.9 KiB
Python
from pathlib import Path
|
|
|
|
from openpilot.system.manager.launch_param_migrations import (
|
|
ACCELERATION_PROFILE_MIGRATION_MARKER,
|
|
BRANCH_DEFAULTS_MIGRATION_MARKER,
|
|
DEFAULT_STEER_KP,
|
|
LAUNCH_PARAM_MIGRATION_MARKER,
|
|
LATERAL_METHOD_REBRAND_MIGRATION_MARKER,
|
|
MARKER_DIRNAME,
|
|
STANDARD_ACCELERATION_PROFILE,
|
|
USE_OLD_UI_MIGRATION_MARKER,
|
|
apply_launch_param_migrations,
|
|
)
|
|
|
|
|
|
class FileBackedFakeParams:
|
|
def __init__(self, root: Path):
|
|
self.root = root
|
|
self.root.mkdir(parents=True, exist_ok=True)
|
|
|
|
def get_param_path(self, key=""):
|
|
if key:
|
|
return str(self.root / (key.decode() if isinstance(key, bytes) else str(key)))
|
|
return str(self.root)
|
|
|
|
def get(self, key):
|
|
path = Path(self.get_param_path(key))
|
|
if not path.is_file():
|
|
return None
|
|
return path.read_text(encoding="utf-8")
|
|
|
|
def get_bool(self, key):
|
|
value = self.get(key)
|
|
return value == "1"
|
|
|
|
def get_float(self, key):
|
|
value = self.get(key)
|
|
return float(value) if value is not None else 0.0
|
|
|
|
def get_int(self, key):
|
|
value = self.get(key)
|
|
return int(float(value)) if value is not None else 0
|
|
|
|
def put_bool(self, key, value):
|
|
Path(self.get_param_path(key)).write_text("1" if value else "0", encoding="utf-8")
|
|
|
|
def put_int(self, key, value):
|
|
Path(self.get_param_path(key)).write_text(str(int(value)), encoding="utf-8")
|
|
|
|
def put_float(self, key, value):
|
|
Path(self.get_param_path(key)).write_text(str(float(value)), encoding="utf-8")
|
|
|
|
def put(self, key, value):
|
|
Path(self.get_param_path(key)).write_text(str(value), encoding="utf-8")
|
|
|
|
|
|
def marker_path(tmp_path: Path, marker_name: str) -> Path:
|
|
path = tmp_path / MARKER_DIRNAME / "params" / marker_name
|
|
path.parent.mkdir(parents=True, exist_ok=True)
|
|
return path
|
|
|
|
|
|
def test_apply_launch_param_migrations_sets_branch_defaults_once(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
|
|
params.put_bool("LongPitch", False)
|
|
params.put_float("SteerKP", 0.7)
|
|
params.put_float("SteerKPStock", 1.0)
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert params.get_bool("LongPitch")
|
|
assert params.get_float("SteerKP") == DEFAULT_STEER_KP
|
|
assert params.get_float("SteerKPStock") == DEFAULT_STEER_KP
|
|
assert marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER).is_file()
|
|
|
|
|
|
def test_apply_launch_param_migrations_initializes_use_prebuilt(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert params.get_bool("UsePrebuilt")
|
|
|
|
|
|
def test_apply_launch_param_migrations_does_not_overwrite_use_prebuilt(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
params.put_bool("UsePrebuilt", False)
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert not params.get_bool("UsePrebuilt")
|
|
|
|
|
|
def test_apply_launch_param_migrations_does_not_reapply_after_marker(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
marker = marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER)
|
|
|
|
params.put_bool("LongPitch", False)
|
|
params.put_float("SteerKP", 0.65)
|
|
params.put_float("SteerKPStock", DEFAULT_STEER_KP)
|
|
marker.touch()
|
|
|
|
apply_launch_param_migrations(params, marker)
|
|
|
|
assert not params.get_bool("LongPitch")
|
|
assert params.get_float("SteerKP") == 0.65
|
|
assert params.get_float("SteerKPStock") == DEFAULT_STEER_KP
|
|
|
|
|
|
def test_apply_launch_param_migrations_applies_branch_defaults_for_existing_installs(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
|
|
params.put_bool("LongPitch", False)
|
|
params.put_bool("CEStoppedLead", True)
|
|
params.put_bool("ForceStops", False)
|
|
params.put_float("AggressiveFollowHigh", 1.25)
|
|
params.put_float("StandardFollowHigh", 1.45)
|
|
params.put_float("StandardJerkAcceleration", 50.0)
|
|
params.put_float("RelaxedFollow", 1.75)
|
|
params.put_float("RelaxedFollowHigh", 1.75)
|
|
params.put_float("RelaxedJerkSpeed", 50.0)
|
|
marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER).touch()
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert not params.get_bool("LongPitch")
|
|
assert not params.get_bool("CEStoppedLead")
|
|
assert params.get_bool("ForceStops")
|
|
assert params.get_float("AggressiveFollowHigh") == 1.0
|
|
assert params.get_float("StandardFollowHigh") == 1.2
|
|
assert params.get_float("StandardJerkAcceleration") == 100.0
|
|
assert params.get_float("RelaxedFollow") == 1.6
|
|
assert params.get_float("RelaxedFollowHigh") == 1.4
|
|
assert params.get_float("RelaxedJerkSpeed") == 100.0
|
|
assert marker_path(tmp_path, BRANCH_DEFAULTS_MIGRATION_MARKER).is_file()
|
|
|
|
|
|
def test_apply_launch_param_migrations_does_not_reapply_branch_defaults_after_marker(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
branch_defaults_marker = marker_path(tmp_path, BRANCH_DEFAULTS_MIGRATION_MARKER)
|
|
|
|
params.put_bool("ConditionalExperimental", False)
|
|
params.put_bool("CEStoppedLead", True)
|
|
params.put_bool("ForceStops", False)
|
|
params.put_float("AggressiveFollowHigh", 2.0)
|
|
params.put_float("StandardJerkAcceleration", 25.0)
|
|
params.put_float("RelaxedFollow", 2.0)
|
|
branch_defaults_marker.touch()
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert not params.get_bool("ConditionalExperimental")
|
|
assert params.get_bool("CEStoppedLead")
|
|
assert not params.get_bool("ForceStops")
|
|
assert params.get_float("AggressiveFollowHigh") == 2.0
|
|
assert params.get_float("StandardJerkAcceleration") == 25.0
|
|
assert params.get_float("RelaxedFollow") == 2.0
|
|
|
|
|
|
def test_apply_launch_param_migrations_preserves_custom_branch_defaults_without_marker(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
|
|
params.put_bool("CEStoppedLead", True)
|
|
params.put_bool("ForceStops", True)
|
|
params.put_float("AggressiveFollowHigh", 2.0)
|
|
params.put_float("StandardJerkAcceleration", 25.0)
|
|
params.put_float("RelaxedFollow", 2.0)
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert not params.get_bool("CEStoppedLead")
|
|
assert params.get_bool("ForceStops")
|
|
assert params.get_float("AggressiveFollowHigh") == 2.0
|
|
assert params.get_float("StandardJerkAcceleration") == 25.0
|
|
assert params.get_float("RelaxedFollow") == 2.0
|
|
|
|
|
|
def test_apply_launch_param_migrations_updates_acceleration_profile_for_existing_installs(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
|
|
params.put_int("AccelerationProfile", 2)
|
|
marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER).touch()
|
|
marker_path(tmp_path, BRANCH_DEFAULTS_MIGRATION_MARKER).touch()
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert params.get_int("AccelerationProfile") == STANDARD_ACCELERATION_PROFILE
|
|
assert marker_path(tmp_path, ACCELERATION_PROFILE_MIGRATION_MARKER).is_file()
|
|
|
|
|
|
def test_apply_launch_param_migrations_does_not_reapply_acceleration_profile_after_marker(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
acceleration_profile_marker = marker_path(tmp_path, ACCELERATION_PROFILE_MIGRATION_MARKER)
|
|
|
|
params.put_int("AccelerationProfile", 3)
|
|
acceleration_profile_marker.touch()
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert params.get_int("AccelerationProfile") == 3
|
|
|
|
|
|
def test_apply_launch_param_migrations_preserves_custom_acceleration_profile_without_marker(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
|
|
params.put_int("AccelerationProfile", 1)
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert params.get_int("AccelerationProfile") == 1
|
|
|
|
|
|
def test_apply_launch_param_migrations_inverts_try_raylib_ui_enabled(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
params.put_bool("TryRaylibUI", True)
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert not params.get_bool("UseOldUI")
|
|
assert marker_path(tmp_path, USE_OLD_UI_MIGRATION_MARKER).is_file()
|
|
|
|
|
|
def test_apply_launch_param_migrations_inverts_try_raylib_ui_disabled(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
params.put_bool("TryRaylibUI", False)
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert params.get_bool("UseOldUI")
|
|
assert marker_path(tmp_path, USE_OLD_UI_MIGRATION_MARKER).is_file()
|
|
|
|
|
|
def test_apply_launch_param_migrations_does_not_overwrite_use_old_ui(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
params.put_bool("TryRaylibUI", False)
|
|
params.put_bool("UseOldUI", False)
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
assert not params.get_bool("UseOldUI")
|
|
|
|
|
|
def test_apply_launch_param_migrations_preserves_active_lateral_method_trial(tmp_path):
|
|
params = FileBackedFakeParams(tmp_path / "params")
|
|
legacy_prefix = "".join(("F", "T", "M"))
|
|
legacy_values = {
|
|
"ActiveOverrides": '{"vehicleKnobs":{"generic.ff_gain_left":0.12}}',
|
|
"ActiveProfileId": "report:cleanup:recommended",
|
|
"TrialBaseline": '{"params":{"SteerLatAccel":1.8}}',
|
|
"TrialApplied": "1",
|
|
}
|
|
for suffix, value in legacy_values.items():
|
|
params.put(f"{legacy_prefix}{suffix}", value)
|
|
|
|
apply_launch_param_migrations(params)
|
|
|
|
for suffix, value in legacy_values.items():
|
|
assert params.get(f"FLM{suffix}") == value
|
|
assert not Path(params.get_param_path(f"{legacy_prefix}{suffix}")).exists()
|
|
assert marker_path(tmp_path, LATERAL_METHOD_REBRAND_MIGRATION_MARKER).is_file()
|