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ee43eb552b
* calibration tests * read from capnp * save using cereal struct * reset calibration if new car * car params
37 lines
1.1 KiB
Python
Executable File
37 lines
1.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import json
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import random
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import unittest
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import cereal.messaging as messaging
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from common.params import Params
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from selfdrive.locationd.calibrationd import Calibrator
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class TestCalibrationd(unittest.TestCase):
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def test_read_saved_params_json(self):
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r = [random.random() for _ in range(3)]
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b = random.randint(1, 10)
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cal_params = {"calib_radians": r,
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"valid_blocks": b}
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Params().put("CalibrationParams", json.dumps(cal_params).encode('utf8'))
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c = Calibrator(param_put=True)
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self.assertEqual(r, c.rpy)
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self.assertEqual(b, c.valid_blocks)
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def test_read_saved_params(self):
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msg = messaging.new_message('liveCalibration')
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msg.liveCalibration.validBlocks = random.randint(1, 10)
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msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
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Params().put("CalibrationParams", msg.to_bytes())
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c = Calibrator(param_put=True)
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self.assertEqual(list(msg.liveCalibration.rpyCalib), c.rpy)
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self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)
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if __name__ == "__main__":
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unittest.main()
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