openpilot_comma/selfdrive/locationd/test/test_calibrationd.py

#!/usr/bin/env python3
import random
import unittest

import numpy as np

import cereal.messaging as messaging
from common.params import Params
from selfdrive.locationd.calibrationd import Calibrator


class TestCalibrationd(unittest.TestCase):

  def test_read_saved_params(self):
    msg = messaging.new_message('liveCalibration')
    msg.liveCalibration.validBlocks = random.randint(1, 10)
    msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
    Params().put("CalibrationParams", msg.to_bytes())
    c = Calibrator(param_put=True)

    np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
    self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)


if __name__ == "__main__":
  unittest.main()