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https://github.com/firestar5683/StarPilot.git
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firestar5683
79c8945a41
Integrate torque feedback, lane-change smoothing and low-speed Turn Assist through dedicated lateral owners. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com>
52 lines
1.7 KiB
Python
52 lines
1.7 KiB
Python
"""Exact-float lane validation preserves numeric and conversion semantics."""
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from fractions import Fraction
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import math
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from numbers import Real
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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.starpilot.lateral import lane_centering as lane
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def original_finite(value):
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if isinstance(value, bool) or not isinstance(value, Real):
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return None
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try:
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result = float(value)
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except (TypeError, ValueError, OverflowError):
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return None
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return result if math.isfinite(result) else None
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def finite_outcome(function, value):
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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 = function(value)
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outcome = (type(result), result, math.copysign(1., result) if result == 0 else None)
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except Exception as exc:
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outcome = (type(exc), str(exc))
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return outcome, [(item.category, str(item.message)) for item in seen]
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class TestLaneFinite(unittest.TestCase):
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def test_finite_exact_float_and_other_numeric_semantics(self):
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class WarnFloat(float):
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def __float__(self):
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warnings.warn('custom conversion', RuntimeWarning, stacklevel=2)
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return 1.0
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class ErrorFloat(float):
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def __float__(self):
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raise RuntimeError('custom conversion failed')
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values = (0., -0., 1., 5e-324, 1e308, math.nan, math.inf, -math.inf,
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0, 1 << 4096, True, False, Fraction(1, 3), np.float32(.1), np.float64(.1), np.int64(3),
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WarnFloat(2), ErrorFloat(2), '1.0', None, complex(1, 0), object())
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for value in values:
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self.assertEqual(finite_outcome(lane._finite_number, value), finite_outcome(original_finite, value))
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if __name__ == '__main__':
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unittest.main()
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