mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
56 lines
2.4 KiB
Python
56 lines
2.4 KiB
Python
"""A measured experiment must fit its ramp; source/native guards stay binding."""
|
|
from dataclasses import replace
|
|
|
|
from openpilot.starpilot.flm.canonical_surface_adapter import NAMES
|
|
from openpilot.starpilot.flm.effect_trace import step_full
|
|
from openpilot.starpilot.flm.live_trial_contract import MAX_STEP, SOURCE_EXPERIMENT_STEP, SLEW_PER_SECOND
|
|
from openpilot.starpilot.flm.tests.test_live_tracking import episode
|
|
from openpilot.starpilot.flm.tests.test_tracking_source_context import owner, refresh
|
|
|
|
|
|
def test_source_experiment_reaches_native_visible_target_at_the_existing_slew():
|
|
o = owner()
|
|
for index in range(6):
|
|
row = episode(o, index, 'ff_gain_left', error=.2)
|
|
row = replace(row, normalization_accel=max(.1, row.goal_rms))
|
|
refresh(o, row.end_ns)
|
|
o.observe_episode(row, now_ns=row.end_ns)
|
|
offer = o.offer(row.end_ns)
|
|
assert offer is not None
|
|
change = abs(dict(offer.target)['ff_gain_left'] - dict(offer.baseline)['ff_gain_left'])
|
|
assert change == SOURCE_EXPERIMENT_STEP == 2 * SLEW_PER_SECOND < MAX_STEP
|
|
current = dict(offer.baseline)
|
|
previous = row.end_ns
|
|
for tick in range(1, 202):
|
|
now = row.end_ns + tick * 10_000_000
|
|
before = current
|
|
current = step_full(current, dict(offer.target), now_ns=now, previous_ns=previous, qualified=True)
|
|
assert all(abs(current[n] - before[n]) <= SLEW_PER_SECOND * .01 + 1e-15 for n in NAMES)
|
|
previous = now
|
|
if tick == 100:
|
|
assert current != dict(offer.target)
|
|
assert current == dict(offer.target)
|
|
assert o.settled_ns is None and not any(o.accepted.values())
|
|
|
|
|
|
def test_no_native_visibility_still_prevents_smaller_trial():
|
|
o = owner()
|
|
for index in range(10):
|
|
row = episode(o, index, 'ff_gain_left', error=.2)
|
|
f = replace(row.sensitivity[0], native_separated=0, max_step_physical_rms=0.)
|
|
row = replace(row, sensitivity=(f,), normalization_accel=max(.1, row.goal_rms))
|
|
refresh(o, row.end_ns)
|
|
o.observe_episode(row, now_ns=row.end_ns)
|
|
assert o.offer_state is None and o.discovery is None and not any(o.accepted.values())
|
|
|
|
|
|
def test_old_witness_does_not_grant_a_smaller_trial():
|
|
o = owner()
|
|
for index in range(6):
|
|
row = episode(o, index, 'ff_gain_left', error=.2)
|
|
row = replace(row, normalization_accel=max(.1, row.goal_rms))
|
|
refresh(o, row.end_ns)
|
|
o.observe_episode(row, now_ns=row.end_ns)
|
|
assert o.offer(row.end_ns + 100_000_001) is None
|
|
assert not any(o.accepted.values())
|