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test(ford): retain queued commands in turn-release regression

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Continue the same allocator through a short turn and cancellation so release checks retain command lead as well as nominal coefficient state. Reject earlier geometry buildup that keeps charging after cancellation. No production controller changes.

Assisted-by: OpenAI Codex
This commit is contained in:
Isaac Barham
2026-09-04 11:51:24 -04:00
parent 5e67122e64
commit 614022defb
1 changed files with 18 additions and 0 deletions
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openpilot/selfdrive/controls/tests/test_ford_shared_path.py
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@@ -59,6 +59,24 @@ class TestSharedRequest(unittest.TestCase):
class TestContributionAllocator(unittest.TestCase):
def test_short_turn_release_preserves_command_history_not_just_coefficient_state(self):
for sign in (-1, 1):
allocator = ContributionAllocator(initial_state=(0.0, 0.0, 0.0))
preferred = FordPath(True, sign * 3.5, sign * 0.5, 0.0)
requested = sum(contributions((preferred.path_offset, preferred.path_angle, 0.0), 8.0))
for _ in range(30):
allocator.allocate(requested, preferred, 8.0)
allocator.advance(allocator.dt)
initial_total = sign * sum(contributions(allocator.state, 8.0))
# Continue the same allocator. Recreating it with command=state hides
# queued commands that can keep building after the request disappears.
for _ in range(30):
command = allocator.allocate(0.0, FordPath(True), 8.0)
self.assertEqual(command.curvature, 0.0)
allocator.advance(allocator.dt)
self.assertLessEqual(sign * sum(contributions(allocator.state, 8.0)), initial_total + allocator.tolerance(8.0))
self.assertLessEqual(abs(sum(contributions(allocator.state, 8.0))), allocator.tolerance(8.0))
def test_nominal_plateau_does_not_erase_requested_fast_geometry(self):
allocator = ContributionAllocator(initial_state=(0.0, 0.0, 0.0))
preferred = FordPath(True, 2.0, 0.12, 0.0, 0.0)