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68 lines
3.0 KiB
Python
68 lines
3.0 KiB
Python
import random
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import numpy as np
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from cereal import messaging
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from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
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from openpilot.selfdrive.locationd.models.car_kf import CarKalman
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from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
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from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
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from openpilot.common.params import Params
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from openpilot.tools.lib.logreader import LogReader
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def get_random_live_parameters(CP):
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msg = messaging.new_message("liveParameters")
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msg.liveParameters.steerRatio = (random.random() + 0.5) * CP.steerRatio
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msg.liveParameters.stiffnessFactor = random.random()
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msg.liveParameters.angleOffsetAverageDeg = random.random()
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msg.liveParameters.debugFilterState.std = [random.random() for _ in range(CarKalman.P_initial.shape[0])]
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return msg
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class TestParamsd:
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def test_read_saved_params(self):
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params = Params()
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lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
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CP = next(m for m in lr if m.which() == "carParams").carParams
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msg = get_random_live_parameters(CP)
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params.put("LiveParametersV2", msg.to_bytes())
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params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
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migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
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sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
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np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
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np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
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np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
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np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
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np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
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# TODO Remove this test after the support for old format is removed
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def test_read_saved_params_old_format(self):
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params = Params()
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lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
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CP = next(m for m in lr if m.which() == "carParams").carParams
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msg = get_random_live_parameters(CP)
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params.put("LiveParameters", msg.liveParameters.to_dict())
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params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
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params.remove("LiveParametersV2")
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migrate_cached_vehicle_params_if_needed(params)
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sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
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np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
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np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
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np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
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assert params.get("LiveParametersV2") is not None
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def test_read_saved_params_corrupted_old_format(self):
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params = Params()
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params.put("LiveParameters", {})
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params.remove("LiveParametersV2")
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migrate_cached_vehicle_params_if_needed(params)
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assert params.get("LiveParameters") is None
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assert params.get("LiveParametersV2") is None
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