mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-19 13:33:59 +08:00
Code Issues Packages Projects Releases Wiki Activity

test_locationd: don't redownload logs (#29929)

Browse Source 
don't redownload logs
old-commit-hash: 7e54882458
This commit is contained in:
Justin Newberry
2023-09-15 13:11:39 -07:00
committed by GitHub
parent d71decf35d
commit 63775e0c61
1 changed files with 15 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
selfdrive/locationd/test/test_locationd_scenarios.py
View File

@@ -49,8 +49,7 @@ def get_select_fields_data(logs):
return data
def run_scenarios(scenario):
logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM)))
def run_scenarios(scenario, logs):
if scenario == Scenario.BASE:
pass
@@ -104,6 +103,11 @@ class TestLocationdScenarios(unittest.TestCase):
- locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK)
- faulty values should be ignored, with appropriate flags set
"""
@classmethod
def setUpClass(cls):
cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM)))
def test_base(self):
"""
Test: unchanged log
@@ -111,7 +115,7 @@ class TestLocationdScenarios(unittest.TestCase):
- yaw_rate: unchanged
- roll: unchanged
"""
orig_data, replayed_data = run_scenarios(Scenario.BASE)
orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
@@ -123,7 +127,7 @@ class TestLocationdScenarios(unittest.TestCase):
- roll:
- gpsOK: False
"""
orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF)
orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0))
@@ -136,7 +140,7 @@ class TestLocationdScenarios(unittest.TestCase):
- roll:
- gpsOK: True for the first half, False for the second half
"""
orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY)
orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0)
@@ -149,7 +153,7 @@ class TestLocationdScenarios(unittest.TestCase):
- roll:
- gpsOK: False for the first half, True for the second half
"""
orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY)
orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)))
self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0)
@@ -162,7 +166,7 @@ class TestLocationdScenarios(unittest.TestCase):
- roll:
- gpsOK: False for the middle section, True for the rest
"""
orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL)
orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0)
@@ -176,7 +180,7 @@ class TestLocationdScenarios(unittest.TestCase):
- roll: 0
- sensorsOK: False
"""
_, replayed_data = run_scenarios(Scenario.GYRO_OFF)
_, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs)
self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
@@ -189,7 +193,7 @@ class TestLocationdScenarios(unittest.TestCase):
- roll: unchanged
- inputsOK: False for some time after the spike, True for the rest
"""
orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY)
orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0)
@@ -203,7 +207,7 @@ class TestLocationdScenarios(unittest.TestCase):
- roll: 0
- sensorsOK: False
"""
_, replayed_data = run_scenarios(Scenario.ACCEL_OFF)
_, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs)
self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
@@ -214,7 +218,7 @@ class TestLocationdScenarios(unittest.TestCase):
Test: an accelerometer spike in the middle of the segment
Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes.
"""
orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY)
orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))