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https://github.com/firestar5683/StarPilot.git
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firestar5683
47 lines
1.7 KiB
Python
47 lines
1.7 KiB
Python
from openpilot.system.sentryd.detector import MotionDetector
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def test_motion_detector_ignores_small_changes():
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detector = MotionDetector(sensitivity=0.1)
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assert detector.update((0.0, 0.0, 9.8), now=0.0) is None
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assert detector.update((0.0, 0.0, 9.85), now=0.1) is None
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assert detector.trigger_count == 0
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def test_motion_detector_warns_once_after_sustained_motion():
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detector = MotionDetector(sensitivity=0.1, warning_trigger_count=3)
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detector.update((0.0, 0.0, 9.8), now=0.0)
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assert detector.update((0.0, 0.0, 10.0), now=0.1) is None
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assert detector.update((0.0, 0.0, 9.8), now=0.2) is None
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assert detector.update((0.0, 0.0, 10.0), now=0.3) == "warning"
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assert detector.update((0.0, 0.0, 9.8), now=0.4) is None
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def test_motion_detector_alarms_after_time_threshold():
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detector = MotionDetector(
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sensitivity=0.1,
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warning_trigger_count=2,
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alarm_trigger_count=3,
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alarm_time=1.0,
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)
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detector.update((0.0, 0.0, 9.8), now=0.0)
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detector.update((0.0, 0.0, 10.0), now=0.1)
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assert detector.update((0.0, 0.0, 9.8), now=0.2) == "warning"
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assert detector.update((0.0, 0.0, 10.0), now=0.5) is None
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assert detector.update((0.0, 0.0, 9.8), now=1.0) is None
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assert detector.update((0.0, 0.0, 10.0), now=1.1) == "alarm"
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assert detector.update((0.0, 0.0, 9.8), now=1.2) is None
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def test_motion_detector_resets_after_quiet_period():
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detector = MotionDetector(sensitivity=0.1, warning_trigger_count=2, reset_time=1.0)
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detector.update((0.0, 0.0, 9.8), now=0.0)
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detector.update((0.0, 0.0, 10.0), now=0.1)
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detector.update((0.0, 0.0, 9.8), now=0.2)
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detector.update((0.0, 0.0, 9.8), now=1.3)
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assert detector.trigger_count == 0
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assert detector.trigger_started_at is None
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