IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/locationd/test/test_helpers.py

@@ -0,0 +1,43 @@
+import numpy as np
+import pytest
+
+from iqpilot.selfdrive.locationd.helpers import ParameterEstimator, PointBuckets, fft_next_good_size
+
+
+class ScalarBuckets(PointBuckets):
+  def add_point(self, x, y):
+    for bounds, bucket in self.buckets.items():
+      if bounds[0] <= x < bounds[1]:
+        bucket.append([x, y])
+        return
+    raise ValueError(x)
+
+
+def test_fft_next_good_size_small_input():
+  assert fft_next_good_size(6) == 6
+
+
+def test_point_buckets_base_requires_an_insertion_policy():
+  buckets = PointBuckets([(0, 1)], [1], 1, 2, 2)
+  with pytest.raises(NotImplementedError):
+    buckets.add_point(0.5, 1.0)
+
+
+def test_point_buckets_load_and_retrieve():
+  buckets = ScalarBuckets([(0, 1), (1, 2)], [1, 1], 2, 3, 2)
+  points = [[0.25, 10.0], [1.25, 20.0], [0.75, 30.0]]
+  buckets.load_points(points)
+  assert buckets.is_valid()
+  assert buckets.is_calculable()
+  np.testing.assert_allclose(buckets.get_points(), [[0.25, 10.0], [0.75, 30.0], [1.25, 20.0]])
+  assert buckets.get_points(2).shape == (2, 2)
+
+
+@pytest.mark.parametrize("method,args", [
+  ("reset", ()),
+  ("handle_log", (0, "carState", None)),
+  ("get_msg", (True, False)),
+])
+def test_parameter_estimator_requires_an_implementation(method, args):
+  with pytest.raises(NotImplementedError):
+    getattr(ParameterEstimator(), method)(*args)