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https://github.com/firestar5683/StarPilot.git
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firestar5683
6d742eb343
Add control trace and platform qualification tools that exercise explicit safety modes and vehicle coverage. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
58 lines
2.2 KiB
Python
58 lines
2.2 KiB
Python
import math
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import random
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import struct
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import unittest
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import warnings
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import numpy as np
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from openpilot.common.scalar_clip import clip_scalar
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class TestScalarClip(unittest.TestCase):
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def compare(self, value, lower, upper):
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results = []
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for function in (lambda v, lo, hi: float(np.clip(v, lo, hi)), clip_scalar):
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with warnings.catch_warnings(record=True) as seen:
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warnings.simplefilter('always')
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try:
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result = ('value', struct.pack('>d', function(value, lower, upper)))
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except Exception as error:
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result = ('error', type(error), str(error))
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results.append((result, [(warning.category, str(warning.message)) for warning in seen]))
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self.assertEqual(results[0], results[1], (value, lower, upper))
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def test_binary64_inputs_match_numpy_exactly(self):
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randomizer = random.Random(20261015)
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def finite():
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while True:
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value = struct.unpack('>d', randomizer.getrandbits(64).to_bytes(8, 'big'))[0]
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if math.isfinite(value):
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return value
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for _ in range(3000):
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lower, upper = sorted((finite(), finite()))
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value = finite()
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self.compare(value, lower, upper)
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self.compare(np.float64(value), lower, upper)
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def test_boundary_bits_and_nonfinite_inputs(self):
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values = (-0.0, 0.0, -math.ulp(0.0), math.ulp(0.0), -1.0, 1.0,
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math.nextafter(1.0, -math.inf), math.nextafter(1.0, math.inf),
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-math.inf, math.inf, math.nan)
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bounds = ((-1.0, 1.0), (-0.0, 1.0), (0.0, 1.0), (-1.0, -0.0), (-1.0, 0.0),
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(-0.0, 0.0), (0.0, -0.0), (1.0, 1.0), (1.0, -1.0),
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(-math.inf, math.inf), (math.nan, 1.0), (-1.0, math.nan))
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for lower, upper in bounds:
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for value in values:
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self.compare(value, lower, upper)
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self.compare(np.float64(value), lower, upper)
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def test_other_types_keep_numpy_results_errors_and_warnings(self):
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class FloatSubclass(float):
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pass
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values = (0, True, None, '0', np.float32(0.2), np.int64(2), FloatSubclass(0.2),
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np.array(0.2), np.array([0.2]), np.array([0.2, 0.5]))
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for value in values:
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for lower, upper in ((-1.0, 1.0), (-1, 1), (np.float32(-1), np.float32(1))):
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self.compare(value, lower, upper)
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