DT const

selfdrive/locationd/test/test_lagd.py

@@ -12,6 +12,7 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.system.hardware import PC
 
 MAX_ERR_FRAMES = 1
+DT = 0.05
 
 
 def run_estimator_on_fake_data(estimator, dt, lag_frames, n_frames, mocker):
@@ -78,26 +79,26 @@ class TestLagd:
 
   def test_empty_estimator(self, mocker):
     mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
-    estimator = LateralLagEstimator(mocked_CP, 0.05)
+    estimator = LateralLagEstimator(mocked_CP, DT)
     msg = estimator.get_msg(True)
     assert msg.liveDelay.status == 'unestimated'
     assert np.allclose(msg.liveDelay.lateralDelay, 1.0)
 
   def test_estimator(self, mocker):
-    dt, iters = 0.05, 100
+    iters = 100
     lag_frames = random.randint(1, 19)
 
     mocked_CP = mocker.Mock(steerActuatorDelay=1.0)
-    estimator = LateralLagEstimator(mocked_CP, dt,
+    estimator = LateralLagEstimator(mocked_CP, DT,
                                     block_count=10, min_valid_block_count=0,
-                                    block_size=1, okay_window_sec=iters * dt,
+                                    block_size=1, okay_window_sec=iters * DT,
                                     min_recovery_buffer_sec=0, min_yr=0)
-    run_estimator_on_fake_data(estimator, dt, lag_frames, iters, mocker)
+    run_estimator_on_fake_data(estimator, DT, lag_frames, iters, mocker)
 
     # expect one block filled, with lateralDelayEstimate equal to lateralDelay equal to lag_frames
     output = estimator.get_msg(True)
     assert output.liveDelay.status == 'estimated'
-    assert np.allclose(output.liveDelay.lateralDelay, lag_frames * dt, atol=0.01)
+    assert np.allclose(output.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
     assert np.allclose(output.liveDelay.lateralDelayEstimate, output.liveDelay.lateralDelay, atol=0.01)
     assert output.liveDelay.validBlocks == 1
 
@@ -105,7 +106,7 @@ class TestLagd:
   @pytest.mark.timeout(30)
   def test_estimator_performance(self, mocker):
     mocked_CP = mocker.Mock(steerActuatorDelay=0.1)
-    estimator = LateralLagEstimator(mocked_CP, 0.05)
+    estimator = LateralLagEstimator(mocked_CP, DT)
 
     ds = []
     for _ in range(1000):
@@ -115,4 +116,4 @@ class TestLagd:
       d = time.perf_counter() - st
       ds.append(d)
 
-    assert np.mean(ds) < 0.05
+    assert np.mean(ds) < DT