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update test fuzzy

albatross
Willem Melching 2021-05-06 19:27:58 +02:00
parent ab319d4f54
commit a0a1ed0cbc
1 changed files with 21 additions and 18 deletions
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39
selfdrive/test/process_replay/test_fuzzy.py
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@ -4,7 +4,7 @@ import unittest
import hypothesis.strategies as st
import numpy as np
from hypothesis import given, settings
from hypothesis import given, settings, note
from cereal import log
from selfdrive.car.toyota.values import CAR as TOYOTA
@ -48,8 +48,8 @@ def get_strategy_for_events(event_types, finite=False):
'steeringAngleDeg': floats(width=32),
})
r['CameraOdometry'] = st.fixed_dictionaries({
'frameId': st.integers(min_value=0, max_value=2**32-1),
'timestampEof': st.integers(min_value=0, max_value=2**64-1),
'frameId': st.integers(min_value=0, max_value=2**32 - 1),
'timestampEof': st.integers(min_value=0, max_value=2**64 - 1),
'trans': st.lists(floats(width=32), min_size=3, max_size=3),
'rot': st.lists(floats(width=32), min_size=3, max_size=3),
'transStd': st.lists(floats(width=32), min_size=3, max_size=3),
@ -57,34 +57,34 @@ def get_strategy_for_events(event_types, finite=False):
})
r['SensorEventData.SensorVec'] = st.fixed_dictionaries({
'v': st.lists(floats(width=32), min_size=3, max_size=3),
'status': st.integers(min_value=0, max_value=1),
'status': st.just(1),
})
r['SensorEventData_gyro'] = st.fixed_dictionaries({
'version': st.just(1),
'sensor': st.just(5),
'type': st.just(16), # BMX055
'timestamp': st.integers(min_value=0, max_value=2**63-1),
'source': st.just(8),
'type': st.just(16),
'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
'source': st.just(8), # BMX055
'gyroUncalibrated': r['SensorEventData.SensorVec'],
})
r['SensorEventData_accel'] = st.fixed_dictionaries({
'version': st.just(1),
'sensor': st.just(1),
'type': st.just(1), # BMX055
'timestamp': st.integers(min_value=0, max_value=2**63-1),
'source': st.just(8),
'type': st.just(1),
'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
'source': st.just(8), # BMX055
'acceleration': r['SensorEventData.SensorVec'],
})
r['SensorEvents'] = st.lists(st.one_of(r['SensorEventData_gyro'], r['SensorEventData_accel']), min_size=1)
r['GpsLocationExternal'] = st.fixed_dictionaries({
'flags': st.integers(min_value=0, max_value=1),
'flags': st.just(1),
'latitude': floats(),
'longitude': floats(),
'altitude': floats(),
'speed': floats(width=32),
'bearingDeg': floats(width=32),
'accuracy': floats(width=32),
'timestamp': st.integers(min_value=0, max_value=2**63-1),
'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
'source': st.just(6), # Ublox
'vNED': st.lists(floats(width=32), min_size=3, max_size=3),
'verticalAccuracy': floats(width=32),
@ -115,10 +115,13 @@ def is_finite(d, exclude=[], prefix=""): # pylint: disable=dangerous-default-va
continue
if isinstance(v, dict):
ret = ret and is_finite(v, exclude, name + ".")
if not is_finite(v, exclude, name + "."):
ret = False
else:
try:
ret = ret and np.isfinite(v).all()
if not np.isfinite(v).all():
note((name, v))
ret = False
except TypeError:
pass
@ -137,8 +140,8 @@ class TestFuzzy(unittest.TestCase):
@settings(deadline=1000)
def test_paramsd(self, dat):
for r in test_process(dat, 'paramsd'):
lp = r.liveParameters.to_dict()
assert is_finite(lp)
d = r.liveParameters.to_dict()
assert is_finite(d)
@given(get_strategy_for_process('locationd', finite=True))
@settings(deadline=1000)
@ -150,8 +153,8 @@ class TestFuzzy(unittest.TestCase):
'calibratedOrientationECEF.std',
]
for r in test_process(dat, 'locationd'):
lp = r.liveLocationKalman.to_dict()
assert is_finite(lp, exclude)
d = r.liveLocationKalman.to_dict()
assert is_finite(d, exclude)
if __name__ == "__main__":