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firestar5683
32 lines
1.3 KiB
Python
32 lines
1.3 KiB
Python
import numpy as np
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from openpilot.cereal import messaging
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from openpilot.tools.lib.log_time_series import msgs_to_time_series
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def test_union_columns_keep_rows_aligned_when_controller_changes():
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messages = []
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for stamp, branch, output in [(3, 'pidState', 0.25), (1, 'torqueState', 0.5), (2, 'pidState', 0.75)]:
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message = messaging.new_message('controlsState')
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message.logMonoTime = stamp * 10**9
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message.controlsState.lateralControlState.init(branch).output = output
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messages.append(message)
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group = msgs_to_time_series(messages)['controlsState']
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assert group['t'].tolist() == [1., 2., 3.]
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assert group['lateralControlState/pidState/output'].tolist() == [None, 0.75, 0.25]
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assert group['lateralControlState/torqueState/output'].tolist() == [0.5, None, None]
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assert all(len(column) == 3 for column in group.values())
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def test_nested_values_and_ragged_lists_preserve_sort_order():
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messages = []
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for stamp, points in [(2, [1., 2.]), (1, [3.])]:
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message = messaging.new_message('modelV2')
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message.logMonoTime = stamp * 10**9
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message.modelV2.position.x = points
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messages.append(message)
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group = msgs_to_time_series(messages)['modelV2']
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assert group['t'].tolist() == [1., 2.]
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np.testing.assert_array_equal(group['position/x'][0], [3.])
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np.testing.assert_array_equal(group['position/x'][1], [1., 2.])
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