Sentry and Tunes

system/sentryd/test/test_detector.py

@@ -0,0 +1,46 @@
+from openpilot.system.sentryd.detector import MotionDetector
+
+
+def test_motion_detector_ignores_small_changes():
+  detector = MotionDetector(sensitivity=0.1)
+  assert detector.update((0.0, 0.0, 9.8), now=0.0) is None
+  assert detector.update((0.0, 0.0, 9.85), now=0.1) is None
+  assert detector.trigger_count == 0
+
+
+def test_motion_detector_warns_once_after_sustained_motion():
+  detector = MotionDetector(sensitivity=0.1, warning_trigger_count=3)
+  detector.update((0.0, 0.0, 9.8), now=0.0)
+
+  assert detector.update((0.0, 0.0, 10.0), now=0.1) is None
+  assert detector.update((0.0, 0.0, 9.8), now=0.2) is None
+  assert detector.update((0.0, 0.0, 10.0), now=0.3) == "warning"
+  assert detector.update((0.0, 0.0, 9.8), now=0.4) is None
+
+
+def test_motion_detector_alarms_after_time_threshold():
+  detector = MotionDetector(
+    sensitivity=0.1,
+    warning_trigger_count=2,
+    alarm_trigger_count=3,
+    alarm_time=1.0,
+  )
+  detector.update((0.0, 0.0, 9.8), now=0.0)
+  detector.update((0.0, 0.0, 10.0), now=0.1)
+  assert detector.update((0.0, 0.0, 9.8), now=0.2) == "warning"
+
+  assert detector.update((0.0, 0.0, 10.0), now=0.5) is None
+  assert detector.update((0.0, 0.0, 9.8), now=1.0) is None
+  assert detector.update((0.0, 0.0, 10.0), now=1.1) == "alarm"
+  assert detector.update((0.0, 0.0, 9.8), now=1.2) is None
+
+
+def test_motion_detector_resets_after_quiet_period():
+  detector = MotionDetector(sensitivity=0.1, warning_trigger_count=2, reset_time=1.0)
+  detector.update((0.0, 0.0, 9.8), now=0.0)
+  detector.update((0.0, 0.0, 10.0), now=0.1)
+  detector.update((0.0, 0.0, 9.8), now=0.2)
+  detector.update((0.0, 0.0, 9.8), now=1.3)
+
+  assert detector.trigger_count == 0
+  assert detector.trigger_started_at is None