mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-30 19:12:07 +08:00
Willem Melching
fec321a178
* calibrationd: convert existing calibration to numpy * use numpy functions old-commit-hash: 8444f8267da10aaf52789d03f6d46d6b90be13ab
27 lines
739 B
Python
Executable File
27 lines
739 B
Python
Executable File
#!/usr/bin/env python3
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import random
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import unittest
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import numpy as np
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import cereal.messaging as messaging
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from common.params import Params
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from selfdrive.locationd.calibrationd import Calibrator
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class TestCalibrationd(unittest.TestCase):
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def test_read_saved_params(self):
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msg = messaging.new_message('liveCalibration')
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msg.liveCalibration.validBlocks = random.randint(1, 10)
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msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
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Params().put("CalibrationParams", msg.to_bytes())
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c = Calibrator(param_put=True)
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np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
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self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)
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if __name__ == "__main__":
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unittest.main()
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