IQ.Pilot Release Commit @ b6534c0

iqpilot/selfdrive/tests/test_constructiond.py

@@ -0,0 +1,123 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from types import SimpleNamespace
+
+import numpy as np
+
+from iqpilot.selfdrive.constructiond import (
+  ANALYSIS_PERIOD,
+  ENTER_HITS,
+  HIT_FRAC,
+  HOLD_SEC,
+  LUMA_MIN,
+  WASH_FRAC,
+  ConstructionZoneDetector,
+  State,
+  orange_fraction,
+)
+
+# barrel orange / yellow paint chroma as measured on-device (see module docstring)
+BARREL_U, BARREL_V = 88, 178
+PAINT_U, PAINT_V = 84, 159
+
+
+def _nv12_buf(width=1928, height=1208, patches=()):
+  stride = width
+  uv_offset = stride * height
+  data = np.full(uv_offset + stride * (height // 2), 128, dtype=np.uint8)
+  data[:uv_offset] = 120  # mid luma
+  uv = data[uv_offset:].reshape(height // 2, stride)
+  for r0, r1, c0, c1, u, v in patches:
+    uv[r0:r1, 2 * c0:2 * c1:2] = u
+    uv[r0:r1, 2 * c0 + 1:2 * c1:2] = v
+  return SimpleNamespace(data=data, width=width, height=height, stride=stride, uv_offset=uv_offset)
+
+
+def test_orange_fraction_fires_on_barrel_chroma():
+  ch, cw = 1208 // 2, 1928 // 2
+  buf = _nv12_buf(patches=[(int(0.6 * ch), int(0.6 * ch) + 20, int(0.5 * cw), int(0.5 * cw) + 20, BARREL_U, BARREL_V)])
+  assert orange_fraction(buf)[0] > HIT_FRAC
+
+
+def test_orange_fraction_rejects_yellow_paint_chroma():
+  ch, cw = 1208 // 2, 1928 // 2
+  buf = _nv12_buf(patches=[(int(0.6 * ch), int(0.9 * ch), int(0.2 * cw), int(0.4 * cw), PAINT_U, PAINT_V)])
+  assert orange_fraction(buf)[0] == 0.0
+
+
+def test_orange_fraction_ignores_sky_region():
+  buf = _nv12_buf(patches=[(0, 100, 100, 300, BARREL_U, BARREL_V)])
+  assert orange_fraction(buf)[0] == 0.0
+
+
+def test_detector_enters_after_persistent_hits_and_holds():
+  det = ConstructionZoneDetector()
+  t = 0.0
+  assert not det.update(0.0, t)
+  for _ in range(ENTER_HITS - 1):
+    t += ANALYSIS_PERIOD
+    assert not det.update(2 * HIT_FRAC, t)
+  assert det.state == State.pending
+
+  t += ANALYSIS_PERIOD
+  assert det.update(2 * HIT_FRAC, t)
+  assert det.state == State.active
+
+  # barrel-free stretch inside the zone: stays active through the hold window
+  t += HOLD_SEC - 1.0
+  assert det.update(0.0, t)
+
+  # past the hold: releases
+  t += HOLD_SEC + 1.0
+  assert not det.update(0.0, t)
+  assert det.state == State.inactive
+
+
+def test_detector_single_hit_does_not_enter():
+  det = ConstructionZoneDetector()
+  det.update(2 * HIT_FRAC, 0.0)
+  for i in range(20):
+    assert not det.update(0.0, 1.0 + i * ANALYSIS_PERIOD)
+
+
+def test_detector_ignores_global_orange_wash():
+  det = ConstructionZoneDetector()
+  for i in range(10):
+    assert not det.update(2 * WASH_FRAC, i * ANALYSIS_PERIOD)
+  assert det.state == State.inactive
+
+
+def test_orange_fraction_reports_roi_luma():
+  buf = _nv12_buf()
+  frac, luma = orange_fraction(buf)
+  assert abs(luma - 120.0) < 1.0  # _nv12_buf fills Y with 120
+
+
+def test_detector_night_luma_gates_hits():
+  det = ConstructionZoneDetector()
+  # night: retroreflective amber markers pass the chroma test but must not enter
+  for i in range(20):
+    assert not det.update(2 * HIT_FRAC, i * ANALYSIS_PERIOD, luma=LUMA_MIN - 30.0)
+  assert det.state == State.inactive
+  # same signal in daylight enters
+  for i in range(ENTER_HITS):
+    det.update(2 * HIT_FRAC, 100.0 + i * ANALYSIS_PERIOD, luma=LUMA_MIN + 30.0)
+  assert det.state == State.active
+
+
+def test_detector_low_speed_gates_entry_but_not_hold():
+  from iqpilot.selfdrive.constructiond import MIN_ENTER_SPEED
+  det = ConstructionZoneDetector()
+  # parked/lot speeds: orange never enters
+  for i in range(20):
+    assert not det.update(2 * HIT_FRAC, i * ANALYSIS_PERIOD, luma=120.0, v_ego=3.0)
+  assert det.state == State.inactive
+  # at speed: enters
+  t = 100.0
+  for i in range(ENTER_HITS):
+    det.update(2 * HIT_FRAC, t + i * ANALYSIS_PERIOD, luma=120.0, v_ego=MIN_ENTER_SPEED + 5.0)
+  assert det.state == State.active
+  # slowing inside the zone: still held
+  assert det.update(0.0, t + 30.0, luma=120.0, v_ego=2.0)