Simon Gardling
11d283585c
Live diagnostic on yarn revealed the daemon was receiving 324-byte FH5 packets correctly (5.7MB on the systemd socket; strace showed steady recvfrom + write to /dev/hidraw7) but writing trigger mode 0x05 (no-resistance) on nearly every tick. Cause: `accel` and `brake` are 0 most of the time during normal play (off-throttle on straight sections, off-brake when not braking). Both handlers had: if accel/255 <= THROTTLE_INPUT_THRESHOLD: effect.off(); return if brake/255 <= BRAKE_INPUT_THRESHOLD: effect.off(); return Every off-pedal packet set the trigger to OFF. Brief pedal-on moments set vibration. The result: rapidly oscillating off↔vibration state, imperceptible at 60 Hz packet rate. These early-returns were holdovers from the previous Race-Element 1:1 port (variant A), which IS designed to be silent unless slipping. Variant D's whole point is "always feels something" — Cosmii has no pedal-off gate, and its baseline branch produces feedback even at brake=0/accel=0 with strength clamped to MIN. Fix: remove both early-returns. Foot-off-pedal flows through the baseline branch and produces feedback(strength=MIN_*_RESISTANCE). The user feels light constant resistance instead of silence. Trigger only returns to physical-rest when out-of-race (run-loop's reset_triggers). Also drop the now-dead BRAKE_INPUT_THRESHOLD / THROTTLE_INPUT_THRESHOLD constants. Two tests renamed and updated to assert MIN-strength baseline feedback instead of effect.off() on zero pedal. 54/54 tests pass. Build clean.
751 lines
29 KiB
Python
751 lines
29 KiB
Python
"""Behavioral tests for forza_trigger.py.
|
||
|
||
Pure-function tests + integration tests using a FakeController that records
|
||
every effect call. No hardware required.
|
||
|
||
Run: `python -m unittest discover -s hosts/yarn/forza-trigger -p 'test_*.py'`
|
||
or via the nix derivation in default.nix (runs at build time).
|
||
"""
|
||
|
||
import math
|
||
import os
|
||
import sys
|
||
import unittest
|
||
from dataclasses import dataclass, field
|
||
from typing import Any, Tuple
|
||
|
||
# Disable lightbar by default for triggers-only tests; specific lightbar tests
|
||
# re-enable by mutating module attributes.
|
||
os.environ.setdefault("FORZA_LIGHTBAR", "0")
|
||
|
||
import forza_trigger as ft # noqa: E402
|
||
|
||
|
||
# --- Fakes ------------------------------------------------------------------
|
||
|
||
|
||
class FakeEffect:
|
||
def __init__(self, log: list, side: str):
|
||
self.log = log
|
||
self.side = side
|
||
|
||
def off(self):
|
||
self.log.append((self.side, "off"))
|
||
|
||
def feedback(self, start_position=0, strength=0):
|
||
self.log.append((self.side, "feedback", start_position, strength))
|
||
|
||
def vibration(self, start_position=0, amplitude=0, frequency=0):
|
||
self.log.append((self.side, "vibration", start_position, amplitude, frequency))
|
||
|
||
|
||
class FakeTrigger:
|
||
def __init__(self, log: list, side: str):
|
||
self.effect = FakeEffect(log, side)
|
||
|
||
|
||
class FakeLightbar:
|
||
def __init__(self, log: list):
|
||
self.log = log
|
||
|
||
def set_color(self, r, g, b):
|
||
self.log.append(("lightbar", "set_color", r, g, b))
|
||
|
||
|
||
class FakeController:
|
||
def __init__(self):
|
||
self.calls: list = []
|
||
self.left_trigger = FakeTrigger(self.calls, "L2")
|
||
self.right_trigger = FakeTrigger(self.calls, "R2")
|
||
self.lightbar = FakeLightbar(self.calls)
|
||
|
||
|
||
@dataclass
|
||
class FakePacket:
|
||
"""Shape mirrors fdp.ForzaDataPacket. Only the fields handlers read are
|
||
populated; the rest stay 0.
|
||
"""
|
||
accel: float = 0.0
|
||
brake: float = 0.0
|
||
is_race_on: float = 1.0
|
||
current_engine_rpm: float = 3000.0
|
||
engine_idle_rpm: float = 800.0
|
||
engine_max_rpm: float = 8000.0
|
||
power: float = 100.0
|
||
acceleration_x: float = 0.0
|
||
acceleration_y: float = 0.0
|
||
acceleration_z: float = 0.0
|
||
tire_combined_slip_FL: float = 0.0
|
||
tire_combined_slip_FR: float = 0.0
|
||
tire_combined_slip_RL: float = 0.0
|
||
tire_combined_slip_RR: float = 0.0
|
||
car_class: float = 0.0
|
||
car_performance_index: float = 0.0
|
||
|
||
|
||
# --- Pure-function tests ----------------------------------------------------
|
||
|
||
|
||
class TestMap(unittest.TestCase):
|
||
def test_endpoints(self):
|
||
self.assertEqual(ft._map(0, 0, 1, 0, 100), 0)
|
||
self.assertEqual(ft._map(1, 0, 1, 0, 100), 100)
|
||
|
||
def test_midpoint(self):
|
||
self.assertEqual(ft._map(0.5, 0, 1, 0, 100), 50)
|
||
|
||
def test_clamps_low(self):
|
||
self.assertEqual(ft._map(-5, 0, 10, 0, 100), 0)
|
||
|
||
def test_clamps_high(self):
|
||
self.assertEqual(ft._map(50, 0, 10, 0, 100), 100)
|
||
|
||
def test_zero_input_range(self):
|
||
# Degenerate input range — must not divide by zero.
|
||
self.assertEqual(ft._map(5, 5, 5, 0, 100), 0)
|
||
|
||
|
||
class TestEWMA(unittest.TestCase):
|
||
def test_alpha_one_is_instant(self):
|
||
# α=1.0 → output exactly equals the input (no smoothing).
|
||
self.assertEqual(ft._ewma(10, 5, 1.0), 10)
|
||
|
||
def test_alpha_zero_is_frozen(self):
|
||
# α=0.0 → output exactly equals the previous value (no update).
|
||
self.assertEqual(ft._ewma(10, 5, 0.0), 5)
|
||
|
||
def test_alpha_half(self):
|
||
self.assertEqual(ft._ewma(10, 6, 0.5), 8)
|
||
|
||
|
||
class TestSafeField(unittest.TestCase):
|
||
def test_missing_attribute_returns_default(self):
|
||
pkt = FakePacket()
|
||
self.assertEqual(ft._safe_field(pkt, "nonexistent_field", 42.0), 42.0)
|
||
|
||
def test_nan_returns_default(self):
|
||
pkt = FakePacket(accel=math.nan)
|
||
self.assertEqual(ft._safe_field(pkt, "accel", 7.0), 7.0)
|
||
|
||
def test_inf_returns_default(self):
|
||
pkt = FakePacket(accel=math.inf)
|
||
self.assertEqual(ft._safe_field(pkt, "accel", 0.0), 0.0)
|
||
|
||
def test_normal_value(self):
|
||
pkt = FakePacket(accel=128.0)
|
||
self.assertEqual(ft._safe_field(pkt, "accel"), 128.0)
|
||
|
||
|
||
class TestCombinedSlip(unittest.TestCase):
|
||
def test_arithmetic_mean(self):
|
||
pkt = FakePacket(
|
||
tire_combined_slip_FL=0.4,
|
||
tire_combined_slip_FR=0.6,
|
||
tire_combined_slip_RL=0.2,
|
||
tire_combined_slip_RR=0.8,
|
||
)
|
||
all_, front, rear = ft._combined_slip(pkt)
|
||
# All four = (0.4+0.6+0.2+0.8)/4 = 0.5
|
||
self.assertAlmostEqual(all_, 0.5)
|
||
# Front = (0.4+0.6)/2 = 0.5
|
||
self.assertAlmostEqual(front, 0.5)
|
||
# Rear = (0.2+0.8)/2 = 0.5
|
||
self.assertAlmostEqual(rear, 0.5)
|
||
|
||
def test_takes_absolute_values(self):
|
||
pkt = FakePacket(
|
||
tire_combined_slip_FL=-0.5,
|
||
tire_combined_slip_FR=0.5,
|
||
tire_combined_slip_RL=-0.3,
|
||
tire_combined_slip_RR=0.3,
|
||
)
|
||
all_, front, rear = ft._combined_slip(pkt)
|
||
self.assertAlmostEqual(all_, 0.4)
|
||
self.assertAlmostEqual(front, 0.5)
|
||
self.assertAlmostEqual(rear, 0.3)
|
||
|
||
|
||
# --- Race-on debounce tests -------------------------------------------------
|
||
|
||
|
||
class TestIsRaceOn(unittest.TestCase):
|
||
def test_simple_yes(self):
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(is_race_on=1.0, current_engine_rpm=4000, power=200)
|
||
self.assertTrue(ft.is_race_on(pkt, s))
|
||
self.assertEqual(s.rpm_accumulator, 0)
|
||
|
||
def test_explicit_no(self):
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(is_race_on=0.0)
|
||
self.assertFalse(ft.is_race_on(pkt, s))
|
||
|
||
def test_debounce_overrides_stuck_flag(self):
|
||
# Simulate FH5's stuck-flag bug: is_race_on=1 but RPM and power show
|
||
# the car is in a menu (power<=0, RPM unchanged).
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(is_race_on=1.0, current_engine_rpm=800, power=0)
|
||
s.last_rpm = 800
|
||
# Pump packets until the accumulator trips.
|
||
for _ in range(ft.RPM_ACCUMULATOR_TRIGGER_RACE_OFF):
|
||
self.assertTrue(ft.is_race_on(pkt, s))
|
||
# One more samples and we cross the threshold.
|
||
self.assertFalse(ft.is_race_on(pkt, s))
|
||
|
||
def test_rpm_change_resets_accumulator(self):
|
||
s = ft.DaemonState()
|
||
s.rpm_accumulator = 50
|
||
s.last_rpm = 800
|
||
pkt = FakePacket(is_race_on=1.0, current_engine_rpm=4000, power=100)
|
||
ft.is_race_on(pkt, s)
|
||
self.assertEqual(s.rpm_accumulator, 0)
|
||
|
||
|
||
# --- Trigger handler tests --------------------------------------------------
|
||
|
||
|
||
class TestHandleThrottle(unittest.TestCase):
|
||
def test_zero_pedal_baseline_min_feedback(self):
|
||
# Foot off throttle should NOT turn the trigger off — variant D's
|
||
# design is "always feels something". Baseline mode still fires
|
||
# with strength = MIN_THROTTLE_RESISTANCE so the user feels light
|
||
# constant resistance under the finger. The run-loop is the only
|
||
# place that calls effect.off() (out-of-race idle reset).
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
ft.handle_throttle(c, FakePacket(accel=0.0), s)
|
||
self.assertEqual(c.calls, [("R2", "feedback", 0, ft.MIN_THROTTLE_RESISTANCE)])
|
||
def test_baseline_under_normal_acceleration(self):
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
# No slip, moderate accel, throttle pressed.
|
||
pkt = FakePacket(accel=128, acceleration_x=0.5, acceleration_z=2.0)
|
||
ft.handle_throttle(c, pkt, s)
|
||
# Baseline mode → feedback call (not vibration, not off).
|
||
self.assertEqual(len(c.calls), 1)
|
||
self.assertEqual(c.calls[0][1], "feedback")
|
||
side, mode, start, strength = c.calls[0]
|
||
self.assertEqual(side, "R2")
|
||
self.assertEqual(start, 0)
|
||
# Strength is in valid library range.
|
||
self.assertGreaterEqual(strength, ft.MIN_THROTTLE_RESISTANCE)
|
||
self.assertLessEqual(strength, ft.MAX_THROTTLE_RESISTANCE)
|
||
|
||
def test_front_slip_triggers_vibration(self):
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
# Front-slip > 0.5 with throttle pressed → vibration mode.
|
||
# Use heavy accel so amp_raw is large enough that the EWMA-filtered
|
||
# value crosses the suppression threshold and we see vibration not
|
||
# feedback fallback.
|
||
pkt = FakePacket(
|
||
accel=255,
|
||
acceleration_z=10.0,
|
||
tire_combined_slip_FL=0.8,
|
||
tire_combined_slip_FR=0.8,
|
||
)
|
||
# Pre-warm EWMA so first call doesn't get heavily damped.
|
||
s.last_throttle_freq = ft.MAX_ACCEL_GRIPLOSS_VIBRATION
|
||
s.last_throttle_resistance = ft.MAX_ACCEL_GRIPLOSS_AMP
|
||
ft.handle_throttle(c, pkt, s)
|
||
self.assertEqual(len(c.calls), 1)
|
||
self.assertEqual(c.calls[0][1], "vibration")
|
||
|
||
def test_rear_slip_below_accelerator_gate_no_vibration(self):
|
||
# Rear-only slip but accelerator below the gate should NOT trigger
|
||
# vibration mode (Cosmii's rule, legacy_Program.cs:224).
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(
|
||
accel=100, # below ACCELERATOR_REAR_SLIP_GATE=200
|
||
tire_combined_slip_RL=0.8,
|
||
tire_combined_slip_RR=0.8,
|
||
)
|
||
ft.handle_throttle(c, pkt, s)
|
||
self.assertEqual(c.calls[0][1], "feedback") # baseline mode
|
||
|
||
def test_rear_slip_above_accelerator_gate_triggers_vibration(self):
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
s.last_throttle_freq = ft.MAX_ACCEL_GRIPLOSS_VIBRATION
|
||
s.last_throttle_resistance = ft.MAX_ACCEL_GRIPLOSS_AMP
|
||
pkt = FakePacket(
|
||
accel=255, # above ACCELERATOR_REAR_SLIP_GATE=200
|
||
acceleration_z=10.0,
|
||
tire_combined_slip_RL=0.8,
|
||
tire_combined_slip_RR=0.8,
|
||
)
|
||
ft.handle_throttle(c, pkt, s)
|
||
self.assertEqual(c.calls[0][1], "vibration")
|
||
|
||
|
||
class TestHandleBrake(unittest.TestCase):
|
||
def test_zero_pedal_baseline_min_feedback(self):
|
||
# Same as throttle — foot off brake = light constant resistance, not off.
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
ft.handle_brake(c, FakePacket(brake=0.0), s)
|
||
self.assertEqual(c.calls, [("L2", "feedback", 0, ft.MIN_BRAKE_RESISTANCE)])
|
||
|
||
def test_baseline_under_normal_braking(self):
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(brake=128)
|
||
ft.handle_brake(c, pkt, s)
|
||
self.assertEqual(len(c.calls), 1)
|
||
self.assertEqual(c.calls[0][1], "feedback")
|
||
# Strength scales with brake input. brake=128 → midpoint of 1..6 = 4ish.
|
||
_, _, _, strength = c.calls[0]
|
||
self.assertGreaterEqual(strength, ft.MIN_BRAKE_RESISTANCE)
|
||
self.assertLessEqual(strength, ft.MAX_BRAKE_RESISTANCE)
|
||
|
||
def test_slip_with_heavy_brake_triggers_vibration(self):
|
||
# Patmagauran/our condition: slip > thr AND brake > thr.
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
s.last_brake_freq = ft.MAX_BRAKE_VIBRATION
|
||
s.last_brake_resistance = ft.MAX_BRAKE_AMP
|
||
pkt = FakePacket(
|
||
brake=200, # well above BRAKE_VIBRATION_MODE_START=10
|
||
tire_combined_slip_FL=0.8,
|
||
tire_combined_slip_FR=0.8,
|
||
tire_combined_slip_RL=0.8,
|
||
tire_combined_slip_RR=0.8,
|
||
)
|
||
ft.handle_brake(c, pkt, s)
|
||
self.assertEqual(c.calls[0][1], "vibration")
|
||
|
||
def test_slip_with_light_brake_no_vibration(self):
|
||
# Slip but brake below threshold → baseline mode (Patmagauran's logic,
|
||
# NOT Cosmii's inverted version).
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(
|
||
brake=8, # below BRAKE_VIBRATION_MODE_START=10
|
||
tire_combined_slip_FL=0.8,
|
||
tire_combined_slip_FR=0.8,
|
||
)
|
||
ft.handle_brake(c, pkt, s)
|
||
self.assertEqual(c.calls[0][1], "feedback") # baseline mode
|
||
|
||
|
||
# --- Lightbar tests ---------------------------------------------------------
|
||
|
||
|
||
class TestLightbarColor(unittest.TestCase):
|
||
def test_in_race_low_rpm_green_floor(self):
|
||
# At idle RPM the green channel should hit GREEN_FLOOR (50), not 0.
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(
|
||
is_race_on=1.0,
|
||
current_engine_rpm=800, # = idle
|
||
engine_idle_rpm=800,
|
||
engine_max_rpm=8000,
|
||
)
|
||
r, g, b = ft.lightbar_color(pkt, s, in_race=True)
|
||
self.assertEqual(r, 0)
|
||
self.assertEqual(g, ft.GREEN_FLOOR)
|
||
self.assertEqual(b, 0)
|
||
|
||
def test_in_race_below_redline_green(self):
|
||
s = ft.DaemonState()
|
||
# 50% RPM ratio, below redline.
|
||
pkt = FakePacket(
|
||
is_race_on=1.0,
|
||
current_engine_rpm=4400,
|
||
engine_idle_rpm=800,
|
||
engine_max_rpm=8000,
|
||
)
|
||
r, g, b = ft.lightbar_color(pkt, s, in_race=True)
|
||
# Both red and green should rise; green not inverted yet.
|
||
self.assertGreater(g, 0)
|
||
self.assertLess(g, 255)
|
||
|
||
def test_in_race_above_redline_inverts_green(self):
|
||
s = ft.DaemonState()
|
||
# 95% RPM ratio, well past 85% redline.
|
||
pkt = FakePacket(
|
||
is_race_on=1.0,
|
||
current_engine_rpm=8000,
|
||
engine_idle_rpm=800,
|
||
engine_max_rpm=8000,
|
||
)
|
||
r, g, b = ft.lightbar_color(pkt, s, in_race=True)
|
||
# At 100% ratio, green=255 then inverted to 0; red=255.
|
||
self.assertEqual(r, 255)
|
||
self.assertEqual(g, 0)
|
||
|
||
def test_menu_class_d_color(self):
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(car_class=0, car_performance_index=255)
|
||
rgb = ft.lightbar_color(pkt, s, in_race=False)
|
||
# Class D at full CPI = exact palette color.
|
||
self.assertEqual(rgb, ft.CAR_CLASS_COLORS[0])
|
||
|
||
def test_menu_x_class_constant(self):
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(car_class=7, car_performance_index=999)
|
||
rgb = ft.lightbar_color(pkt, s, in_race=False)
|
||
self.assertEqual(rgb, ft.COLOR_CLASS_X)
|
||
|
||
def test_menu_class_d_packet_unsticks_previous_class(self):
|
||
# Switching from S2 → D MUST update the lightbar to D's palette,
|
||
# not keep showing S2 just because car_class=0 was previously
|
||
# treated as "no info" by Cosmii's broken `> 0` guard.
|
||
s = ft.DaemonState()
|
||
s.last_car_class = 5 # S2
|
||
s.last_cpi = 200
|
||
d_pkt = FakePacket(car_class=0, car_performance_index=180)
|
||
rgb = ft.lightbar_color(d_pkt, s, in_race=False)
|
||
# Expect tinted D-class color, NOT S2.
|
||
ratio = 180 / 255
|
||
expected = (
|
||
int(ratio * ft.CAR_CLASS_COLORS[0][0]),
|
||
int(ratio * ft.CAR_CLASS_COLORS[0][1]),
|
||
int(ratio * ft.CAR_CLASS_COLORS[0][2]),
|
||
)
|
||
self.assertEqual(rgb, expected)
|
||
|
||
|
||
# --- DaemonState lifecycle --------------------------------------------------
|
||
|
||
|
||
class TestDaemonStateReset(unittest.TestCase):
|
||
def test_reset_clears_filters_and_accumulator(self):
|
||
s = ft.DaemonState()
|
||
s.last_throttle_resistance = 99.0
|
||
s.last_brake_resistance = 99.0
|
||
s.last_throttle_freq = 99.0
|
||
s.last_brake_freq = 99.0
|
||
s.rpm_accumulator = 50
|
||
s.last_rpm = 4000
|
||
|
||
s.reset()
|
||
|
||
self.assertEqual(s.last_throttle_resistance, 1.0)
|
||
self.assertEqual(s.last_brake_resistance, 1.0)
|
||
self.assertEqual(s.last_throttle_freq, 0.0)
|
||
self.assertEqual(s.last_brake_freq, 0.0)
|
||
self.assertEqual(s.rpm_accumulator, 0)
|
||
self.assertEqual(s.last_rpm, 0.0)
|
||
|
||
def test_reset_clears_lightbar_dedup(self):
|
||
# last_color MUST be cleared on idle reset. The `apply_lightbar`
|
||
# dedup short-circuits when color == state.last_color; if reset
|
||
# left the cache holding the in-race color, resuming with the
|
||
# same color would skip the controller write — leaving the bar
|
||
# black after the (0,0,0) write reset_all sent at idle.
|
||
s = ft.DaemonState()
|
||
s.last_color = (1, 2, 3)
|
||
s.reset()
|
||
self.assertEqual(s.last_color, (0, 0, 0))
|
||
|
||
# --- Intensity attenuation regression ---------------------------------------
|
||
# Catches the bug where the EWMA cell stored the intensity-scaled value, so
|
||
# any FORZA_*_INTENSITY < 1 geometrically attenuated the output (steady-state
|
||
# at intensity=0.5, α=0.01 was ~50× too low). The fix decouples cell storage
|
||
# from output scaling. This test would have caught it in CI.
|
||
|
||
|
||
class TestIntensityScaling(unittest.TestCase):
|
||
def _run_steady(self, intensity_attr: str, side: str, pkt_kwargs: dict, n_iter: int = 300) -> int:
|
||
"""Drive a handler n_iter times with constant input and the named
|
||
intensity attribute monkey-patched, then return the final integer
|
||
strength sent on `side` ("L2" or "R2").
|
||
"""
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
for _ in range(n_iter):
|
||
if side == "R2":
|
||
ft.handle_throttle(c, FakePacket(**pkt_kwargs), s)
|
||
else:
|
||
ft.handle_brake(c, FakePacket(**pkt_kwargs), s)
|
||
# Last call's strength.
|
||
last = c.calls[-1]
|
||
# ("R2"/"L2", "feedback", start, strength) OR ("R2"/"L2", "vibration", start, amp, freq)
|
||
return last[3]
|
||
|
||
def test_throttle_baseline_intensity_proportional(self):
|
||
# With intensity=0.5, the output at α=0.01 (very smooth) must
|
||
# converge to ~0.5× the intensity=1.0 output, NOT to ~1% of it.
|
||
# We can't monkey-patch module-level constants from a method
|
||
# cleanly, so we re-import after env tweaks isn't an option in
|
||
# one process. Instead, pin RIGHT_TRIGGER_INTENSITY directly.
|
||
original = ft.RIGHT_TRIGGER_INTENSITY
|
||
try:
|
||
ft.RIGHT_TRIGGER_INTENSITY = 1.0
|
||
full = self._run_steady("RIGHT_TRIGGER_INTENSITY", "R2",
|
||
dict(accel=128, acceleration_z=10.0))
|
||
ft.RIGHT_TRIGGER_INTENSITY = 0.5
|
||
half = self._run_steady("RIGHT_TRIGGER_INTENSITY", "R2",
|
||
dict(accel=128, acceleration_z=10.0))
|
||
finally:
|
||
ft.RIGHT_TRIGGER_INTENSITY = original
|
||
# full strength at this input is MAX=6 (avgAccel=10 → top of range).
|
||
# half intensity should clamp around 3 (or MIN=1 floor; not <full).
|
||
self.assertEqual(full, 6)
|
||
self.assertEqual(half, 3)
|
||
|
||
def test_brake_baseline_intensity_proportional(self):
|
||
original = ft.LEFT_TRIGGER_INTENSITY
|
||
try:
|
||
ft.LEFT_TRIGGER_INTENSITY = 1.0
|
||
full = self._run_steady("LEFT_TRIGGER_INTENSITY", "L2", dict(brake=255))
|
||
ft.LEFT_TRIGGER_INTENSITY = 0.5
|
||
half = self._run_steady("LEFT_TRIGGER_INTENSITY", "L2", dict(brake=255))
|
||
finally:
|
||
ft.LEFT_TRIGGER_INTENSITY = original
|
||
self.assertEqual(full, 6)
|
||
self.assertEqual(half, 3)
|
||
|
||
|
||
# --- Slip transition seeding ------------------------------------------------
|
||
# The first packet of a slip event MUST produce the unsmoothed peak
|
||
# vibration so the buzz is felt immediately, not after ~1.7s of EWMA
|
||
# convergence at α=0.01.
|
||
|
||
|
||
class TestSlipTransitionSeeding(unittest.TestCase):
|
||
def test_first_throttle_slip_packet_hits_peak(self):
|
||
c = FakeController()
|
||
s = ft.DaemonState() # was_throttle_slipping=False, cells=1.0/0.0
|
||
pkt = FakePacket(
|
||
accel=255,
|
||
acceleration_z=10.0,
|
||
tire_combined_slip_FL=1.0,
|
||
tire_combined_slip_FR=1.0,
|
||
tire_combined_slip_RL=1.0,
|
||
tire_combined_slip_RR=1.0,
|
||
)
|
||
ft.handle_throttle(c, pkt, s)
|
||
self.assertEqual(c.calls[-1][1], "vibration")
|
||
_, _, _, amp, freq = c.calls[-1]
|
||
# Peak slip → MAX_ACCEL_GRIPLOSS_VIBRATION ceiling on freq, MAX
|
||
# amp from heavy avgAccel. With seeding, BOTH should hit max on
|
||
# the very first packet.
|
||
self.assertEqual(freq, ft.MAX_ACCEL_GRIPLOSS_VIBRATION)
|
||
self.assertEqual(amp, ft.MAX_ACCEL_GRIPLOSS_AMP)
|
||
|
||
def test_first_brake_slip_packet_hits_peak(self):
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
pkt = FakePacket(
|
||
brake=255,
|
||
tire_combined_slip_FL=1.0,
|
||
tire_combined_slip_FR=1.0,
|
||
tire_combined_slip_RL=1.0,
|
||
tire_combined_slip_RR=1.0,
|
||
)
|
||
ft.handle_brake(c, pkt, s)
|
||
self.assertEqual(c.calls[-1][1], "vibration")
|
||
_, _, _, amp, freq = c.calls[-1]
|
||
self.assertEqual(freq, ft.MAX_BRAKE_VIBRATION)
|
||
self.assertEqual(amp, ft.MAX_BRAKE_AMP)
|
||
|
||
def test_throttle_seeding_survives_menu_round_trip(self):
|
||
# Race 1 ended with was_throttle_slipping=True (player crashed
|
||
# mid-spin). Player went to menu (in_race=False) — the run-loop's
|
||
# transition handler MUST clear was_throttle_slipping so race 2's
|
||
# first slip packet re-seeds the EWMA cell. Without the transition
|
||
# cleanup, the round-1 cold-start fix doesn't survive a menu
|
||
# round-trip and the regression returns silently.
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
# Simulate post-menu state with stale slip flags + EWMA cells.
|
||
s.was_throttle_slipping = False # what run-loop transition handler should leave
|
||
s.last_throttle_freq = 1.0 # but cells are not stale because run-loop reset them
|
||
s.last_throttle_resistance = 1.0
|
||
pkt = FakePacket(
|
||
accel=255, acceleration_z=10.0,
|
||
tire_combined_slip_FL=1.0, tire_combined_slip_FR=1.0,
|
||
tire_combined_slip_RL=1.0, tire_combined_slip_RR=1.0,
|
||
)
|
||
ft.handle_throttle(c, pkt, s)
|
||
_, _, _, amp, freq = c.calls[-1]
|
||
self.assertEqual(freq, ft.MAX_ACCEL_GRIPLOSS_VIBRATION)
|
||
self.assertEqual(amp, ft.MAX_ACCEL_GRIPLOSS_AMP)
|
||
|
||
def test_brake_seeding_survives_menu_round_trip(self):
|
||
c = FakeController()
|
||
s = ft.DaemonState()
|
||
s.was_brake_slipping = False
|
||
s.last_brake_freq = 1.0
|
||
s.last_brake_resistance = 1.0
|
||
pkt = FakePacket(
|
||
brake=255,
|
||
tire_combined_slip_FL=1.0, tire_combined_slip_FR=1.0,
|
||
tire_combined_slip_RL=1.0, tire_combined_slip_RR=1.0,
|
||
)
|
||
ft.handle_brake(c, pkt, s)
|
||
_, _, _, amp, freq = c.calls[-1]
|
||
self.assertEqual(freq, ft.MAX_BRAKE_VIBRATION)
|
||
self.assertEqual(amp, ft.MAX_BRAKE_AMP)
|
||
|
||
|
||
# --- env helpers ------------------------------------------------------------
|
||
|
||
|
||
class TestReadIntensity(unittest.TestCase):
|
||
def test_default_when_unset(self):
|
||
os.environ.pop("FORZA_PROBE_X", None)
|
||
self.assertEqual(ft._read_intensity("FORZA_PROBE_X", default=0.7), 0.7)
|
||
|
||
def test_clamps_above_one(self):
|
||
os.environ["FORZA_PROBE_X"] = "5.0"
|
||
self.assertEqual(ft._read_intensity("FORZA_PROBE_X"), 1.0)
|
||
|
||
def test_clamps_below_zero(self):
|
||
os.environ["FORZA_PROBE_X"] = "-1.0"
|
||
self.assertEqual(ft._read_intensity("FORZA_PROBE_X"), 0.0)
|
||
|
||
def test_nan_falls_back_to_default(self):
|
||
# Without the is_finite check, min(1.0, nan) returns 1.0 silently.
|
||
os.environ["FORZA_PROBE_X"] = "nan"
|
||
self.assertEqual(ft._read_intensity("FORZA_PROBE_X", default=0.4), 0.4)
|
||
|
||
def test_inf_falls_back_to_default(self):
|
||
os.environ["FORZA_PROBE_X"] = "inf"
|
||
self.assertEqual(ft._read_intensity("FORZA_PROBE_X", default=0.4), 0.4)
|
||
|
||
def test_garbage_falls_back_to_default(self):
|
||
os.environ["FORZA_PROBE_X"] = "yes please"
|
||
self.assertEqual(ft._read_intensity("FORZA_PROBE_X", default=0.5), 0.5)
|
||
|
||
|
||
class TestReadBool(unittest.TestCase):
|
||
def test_default(self):
|
||
os.environ.pop("FORZA_PROBE_BOOL", None)
|
||
self.assertTrue(ft._read_bool("FORZA_PROBE_BOOL", default=True))
|
||
self.assertFalse(ft._read_bool("FORZA_PROBE_BOOL", default=False))
|
||
|
||
def test_disabled_tokens(self):
|
||
for tok in ("0", "false", "FALSE", "no", "NO", "off", "Off", ""):
|
||
os.environ["FORZA_PROBE_BOOL"] = tok
|
||
self.assertFalse(ft._read_bool("FORZA_PROBE_BOOL"), f"token={tok!r}")
|
||
|
||
def test_enabled_tokens(self):
|
||
for tok in ("1", "true", "yes", "on", "Y", "anything-else"):
|
||
os.environ["FORZA_PROBE_BOOL"] = tok
|
||
self.assertTrue(ft._read_bool("FORZA_PROBE_BOOL"), f"token={tok!r}")
|
||
|
||
|
||
# --- on_error signature -----------------------------------------------------
|
||
# The dualsense-controller library dispatches state-change callbacks by
|
||
# parameter count. _on_controller_error MUST take exactly 1 parameter to
|
||
# bind to the 1-arg event (which emits new_value). 2-arg would bind to a
|
||
# 2-arg event that emits (new_value, timestamp_ns), making the log show a
|
||
# stray clock integer instead of the exception.
|
||
|
||
|
||
class TestOnControllerErrorSignature(unittest.TestCase):
|
||
def test_takes_exactly_one_argument(self):
|
||
import inspect
|
||
sig = inspect.signature(ft._on_controller_error)
|
||
self.assertEqual(
|
||
len(sig.parameters), 1,
|
||
f"_on_controller_error must take 1 arg (got {list(sig.parameters)}); "
|
||
"the dualsense-controller library dispatches by arity and 2-arg "
|
||
"would receive (new_value, timestamp_ns) instead of (exc).",
|
||
)
|
||
|
||
|
||
# --- Reset tolerates None controller ----------------------------------------
|
||
|
||
|
||
class TestResetNullSafe(unittest.TestCase):
|
||
def test_reset_triggers_none_no_raise(self):
|
||
ft.reset_triggers(None) # must not raise
|
||
|
||
def test_reset_all_none_no_raise(self):
|
||
ft.reset_all(None) # must not raise
|
||
|
||
|
||
# --- fdp surface contract ---------------------------------------------------
|
||
# Catches the field-name regression class. We collect every literal name
|
||
# the daemon passes to _safe_field/_safe_abs and assert each resolves on
|
||
# a real fdp.ForzaDataPacket. This would have caught all three of the
|
||
# bugs in commit 50e5f12 at CI time.
|
||
|
||
|
||
class TestFdpSurfaceContract(unittest.TestCase):
|
||
@staticmethod
|
||
def _collect_field_names(src_path: str) -> tuple[set[str], int]:
|
||
"""Walk the daemon AST for every _safe_field/_safe_abs call.
|
||
|
||
Returns (literal_names, non_literal_arg_count). Calls inside the
|
||
wrapper functions `_safe_abs` and `_safe_field` themselves are
|
||
excluded — those forward `name` from a parameter to the inner
|
||
call and do NOT touch the fdp surface directly. Non-zero
|
||
non-literal count from any OTHER caller indicates the contract
|
||
isn't fully enforceable.
|
||
"""
|
||
import ast
|
||
with open(src_path) as f:
|
||
tree = ast.parse(f.read())
|
||
|
||
class V(ast.NodeVisitor):
|
||
def __init__(self) -> None:
|
||
self.names: set[str] = set()
|
||
self.non_literal: int = 0
|
||
self._fn_stack: list[str] = []
|
||
|
||
def visit_FunctionDef(self, node: ast.FunctionDef) -> None:
|
||
self._fn_stack.append(node.name)
|
||
self.generic_visit(node)
|
||
self._fn_stack.pop()
|
||
|
||
def visit_AsyncFunctionDef(self, node: ast.AsyncFunctionDef) -> None:
|
||
self._fn_stack.append(node.name)
|
||
self.generic_visit(node)
|
||
self._fn_stack.pop()
|
||
|
||
def visit_Call(self, node: ast.Call) -> None:
|
||
self.generic_visit(node) # nested calls
|
||
fn = node.func
|
||
if not isinstance(fn, ast.Name):
|
||
return
|
||
if fn.id not in ("_safe_field", "_safe_abs"):
|
||
return
|
||
# Skip the forwarding wrappers themselves: those call
|
||
# _safe_field with a `name` parameter, not a literal.
|
||
if self._fn_stack and self._fn_stack[-1] in ("_safe_abs", "_safe_field"):
|
||
return
|
||
if len(node.args) < 2:
|
||
self.non_literal += 1
|
||
return
|
||
arg = node.args[1]
|
||
if isinstance(arg, ast.Constant) and isinstance(arg.value, str):
|
||
self.names.add(arg.value)
|
||
else:
|
||
self.non_literal += 1
|
||
|
||
v = V()
|
||
v.visit(tree)
|
||
return v.names, v.non_literal
|
||
|
||
def test_every_daemon_field_resolves_on_real_fdp_packet(self):
|
||
import fdp
|
||
# 324-byte zeroed buffer — fh4 unpack will succeed (just yields
|
||
# zeros for everything) but every documented field will be
|
||
# setattr'd on the resulting object.
|
||
pkt = fdp.ForzaDataPacket(b"\x00" * 324, packet_format="fh4")
|
||
used_names, non_literal = self._collect_field_names(ft.__file__)
|
||
self.assertGreater(len(used_names), 5, "AST walker found too few names")
|
||
self.assertEqual(
|
||
non_literal, 0,
|
||
"Every _safe_field/_safe_abs call MUST pass a string literal "
|
||
"field name so this contract test can verify it. Variable / "
|
||
"kwarg / computed names defeat the AST walker.",
|
||
)
|
||
missing = sorted(n for n in used_names if not hasattr(pkt, n))
|
||
self.assertEqual(
|
||
missing, [],
|
||
f"daemon reads fdp fields that don't exist: {missing}. "
|
||
"Check fdp.ForzaDataPacket.sled_props + dash_props for canonical names.",
|
||
)
|
||
|
||
|
||
|
||
if __name__ == "__main__":
|
||
unittest.main(verbosity=2)
|