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112 lines
4.9 KiB
112 lines
4.9 KiB
import random
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import numpy as np
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import cereal.messaging as messaging
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from cereal import log
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from openpilot.common.params import Params
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from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
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MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT, MAX_ALLOWED_PITCH_SPREAD, MAX_ALLOWED_YAW_SPREAD
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def process_messages(c, cam_odo_calib, cycles,
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cam_odo_speed=MIN_SPEED_FILTER + 1,
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carstate_speed=MIN_SPEED_FILTER + 1,
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cam_odo_yr=0.0,
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cam_odo_speed_std=1e-3,
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cam_odo_height_std=1e-3):
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old_rpy_weight_prev = 0.0
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for _ in range(cycles):
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assert (old_rpy_weight_prev - c.old_rpy_weight < 1/SMOOTH_CYCLES + 1e-3)
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old_rpy_weight_prev = c.old_rpy_weight
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c.handle_v_ego(carstate_speed)
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c.handle_cam_odom([cam_odo_speed,
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np.sin(cam_odo_calib[2]) * cam_odo_speed,
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-np.sin(cam_odo_calib[1]) * cam_odo_speed],
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[0.0, 0.0, cam_odo_yr],
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[0.0, 0.0, 0.0],
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[cam_odo_speed_std, cam_odo_speed_std, cam_odo_speed_std],
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[0.0, 0.0, HEIGHT_INIT.item()],
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[cam_odo_height_std, cam_odo_height_std, cam_odo_height_std])
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class TestCalibrationd:
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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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msg.liveCalibration.height = [random.random() for _ in range(1)]
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Params().put("CalibrationParams", msg.to_bytes())
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c = Calibrator(param_put=True)
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np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
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np.testing.assert_allclose(msg.liveCalibration.height, c.height)
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assert msg.liveCalibration.validBlocks == c.valid_blocks
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def test_calibration_basics(self):
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c = Calibrator(param_put=False)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED)
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assert c.valid_blocks == INPUTS_WANTED
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np.testing.assert_allclose(c.rpy, np.zeros(3))
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np.testing.assert_allclose(c.height, HEIGHT_INIT)
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c.reset()
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def test_calibration_low_speed_reject(self):
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c = Calibrator(param_put=False)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed=MIN_SPEED_FILTER - 1)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, carstate_speed=MIN_SPEED_FILTER - 1)
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assert c.valid_blocks == 0
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np.testing.assert_allclose(c.rpy, np.zeros(3))
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np.testing.assert_allclose(c.height, HEIGHT_INIT)
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def test_calibration_yaw_rate_reject(self):
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c = Calibrator(param_put=False)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_yr=MAX_YAW_RATE_FILTER)
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assert c.valid_blocks == 0
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np.testing.assert_allclose(c.rpy, np.zeros(3))
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np.testing.assert_allclose(c.height, HEIGHT_INIT)
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def test_calibration_speed_std_reject(self):
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c = Calibrator(param_put=False)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed_std=1e3)
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assert c.valid_blocks == INPUTS_NEEDED
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np.testing.assert_allclose(c.rpy, np.zeros(3))
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def test_calibration_speed_std_height_reject(self):
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c = Calibrator(param_put=False)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_height_std=1e3)
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assert c.valid_blocks == INPUTS_NEEDED
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np.testing.assert_allclose(c.rpy, np.zeros(3))
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def test_calibration_auto_reset(self):
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c = Calibrator(param_put=False)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
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assert c.valid_blocks == INPUTS_NEEDED
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np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3)
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process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10)
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assert c.valid_blocks == INPUTS_NEEDED + 1
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assert c.cal_status == log.LiveCalibrationData.Status.calibrated
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c = Calibrator(param_put=False)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
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assert c.valid_blocks == INPUTS_NEEDED
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np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
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process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10)
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assert c.valid_blocks == 1
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assert c.cal_status == log.LiveCalibrationData.Status.recalibrating
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np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2)
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c = Calibrator(param_put=False)
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process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
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assert c.valid_blocks == INPUTS_NEEDED
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np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
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process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10)
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assert c.valid_blocks == 1
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assert c.cal_status == log.LiveCalibrationData.Status.recalibrating
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np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2)
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