firestar5683
70 lines
2.1 KiB
Python
70 lines
2.1 KiB
Python
from pathlib import Path
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from openpilot.system.manager.launch_param_migrations import (
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DEFAULT_STEER_KP,
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LAUNCH_PARAM_MIGRATION_MARKER,
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apply_launch_param_migrations,
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)
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class FileBackedFakeParams:
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def __init__(self, root: Path):
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self.root = root
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self.root.mkdir(parents=True, exist_ok=True)
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def get_param_path(self, key=""):
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if key:
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return str(self.root / (key.decode() if isinstance(key, bytes) else str(key)))
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return str(self.root)
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def get(self, key):
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path = Path(self.get_param_path(key))
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if not path.is_file():
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return None
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return path.read_text(encoding="utf-8")
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def get_bool(self, key):
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value = self.get(key)
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return value == "1"
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def get_float(self, key):
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value = self.get(key)
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return float(value) if value is not None else 0.0
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def put_bool(self, key, value):
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Path(self.get_param_path(key)).write_text("1" if value else "0", encoding="utf-8")
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def put_float(self, key, value):
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Path(self.get_param_path(key)).write_text(str(float(value)), encoding="utf-8")
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def test_apply_launch_param_migrations_sets_branch_defaults_once(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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params.put_bool("LongPitch", False)
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params.put_float("SteerKP", 0.7)
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params.put_float("SteerKPStock", 1.0)
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apply_launch_param_migrations(params)
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assert params.get_bool("LongPitch")
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assert params.get_float("SteerKP") == DEFAULT_STEER_KP
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assert params.get_float("SteerKPStock") == DEFAULT_STEER_KP
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assert (tmp_path / "params" / LAUNCH_PARAM_MIGRATION_MARKER).is_file()
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def test_apply_launch_param_migrations_does_not_reapply_after_marker(tmp_path):
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params = FileBackedFakeParams(tmp_path / "params")
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marker = tmp_path / "params" / LAUNCH_PARAM_MIGRATION_MARKER
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params.put_bool("LongPitch", False)
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params.put_float("SteerKP", 0.65)
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params.put_float("SteerKPStock", DEFAULT_STEER_KP)
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marker.touch()
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apply_launch_param_migrations(params, marker)
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assert not params.get_bool("LongPitch")
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assert params.get_float("SteerKP") == 0.65
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assert params.get_float("SteerKPStock") == DEFAULT_STEER_KP
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