IQ.Lvbs CI [bot]
73 lines
2.0 KiB
Python
73 lines
2.0 KiB
Python
from types import SimpleNamespace
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from openpilot.selfdrive.ui.iqpilot.onroad.nav_map_utils import (
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build_mapbox_static_url,
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build_mapbox_tile_url,
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choose_nav_camera,
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mercator_world_px,
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mercator_world_px_at_zoom,
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project_nav_point,
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project_nav_polyline,
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tile_world_size,
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)
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def test_mercator_world_px_changes_with_longitude():
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x1, y1 = mercator_world_px(41.8826, -87.6393, 16.0)
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x2, y2 = mercator_world_px(41.8826, -87.6293, 16.0)
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assert x2 > x1
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assert abs(y2 - y1) < 1.0
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def test_project_nav_point_centers_current_position():
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x, y = project_nav_point(41.8826, -87.6393, 41.8826, -87.6393, 16.0, 90.0, 420.0, 420.0)
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assert round(x, 3) == 210.0
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assert round(y, 3) == 210.0
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def test_project_nav_polyline_preserves_point_count():
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points = [
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SimpleNamespace(latitude=41.8826, longitude=-87.6422),
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SimpleNamespace(latitude=41.8826, longitude=-87.6393),
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SimpleNamespace(latitude=41.8830, longitude=-87.6366),
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]
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projected = project_nav_polyline(points, 41.8826, -87.6393, 16.0, 90.0, 420.0, 420.0)
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assert len(projected) == len(points)
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def test_choose_nav_camera_looks_ahead_of_vehicle():
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points = [
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SimpleNamespace(latitude=41.8826, longitude=-87.6393),
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SimpleNamespace(latitude=41.8835, longitude=-87.6355),
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]
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center_lat, center_lon, zoom = choose_nav_camera(41.8826, -87.6393, 90.0, points, 420.0, 420.0, 16.2)
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assert center_lon > -87.6393
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assert 15.0 <= zoom <= 16.8
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def test_build_mapbox_static_url_contains_expected_components():
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url = build_mapbox_static_url(41.8826, -87.6393, 16.2, 90.0, 420, 420)
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assert "navigation-day-v1/static/" in url
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assert "-87.639300,41.882600,16.20,90.0,0/420x420@2x" in url
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def test_build_mapbox_tile_url_contains_expected_components():
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url = build_mapbox_tile_url(16, 10619, 24322)
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assert "navigation-day-v1/tiles/256/16/10619/24322@2x" in url
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def test_world_size_and_world_px_align_at_integer_zoom():
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world_size = tile_world_size(16)
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x, y = mercator_world_px_at_zoom(41.8826, -87.6393, 16)
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assert 0.0 <= x <= world_size
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assert 0.0 <= y <= world_size
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