mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-21 19:02:06 +08:00
Jason Wen
bf659453aa
* move-fast: Hands on wheel monitoring: Implementation according to r079r4e regulation * move-fast: VisionTurnController Implementation & UI prerequisites * move-fast: LiveMapData: Implementation & UI prerequisites * add dependencies * move-fast: SpeedLimitControl: Implementation & UI prerequisites * move-fast: TurnSpeedController: Implementation & UI prerequisites * move-fast: Debug: Tap on Ui to capture snapshot of debug data & UI prerequisites * Debug UI: Toggle to display debug UI elements & UI prerequisites
75 lines
2.9 KiB
Python
75 lines
2.9 KiB
Python
import unittest
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from selfdrive.mapd.lib.WayRelationIndex import WayRelationIndex
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from selfdrive.mapd.test.mock_data import mockWayCollection01
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class TestWayRelationIndex(unittest.TestCase):
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def test_init_and_add(self):
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wrs = mockWayCollection01.way_relations
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wr_index = WayRelationIndex(wrs)
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# expected init logic, including add logic.
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edge_nodes_index_dict = {}
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full_nodes_index_dict = {}
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for wr in wrs:
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for node in wr.way.nodes:
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node_id = node.id
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full_nodes_index_dict[node_id] = full_nodes_index_dict.get(node_id, []) + [wr]
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if node_id in wr.edge_nodes_ids:
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edge_nodes_index_dict[node_id] = edge_nodes_index_dict.get(node_id, []) + [wr]
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# assert logic delivers same result
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self.assertDictEqual(edge_nodes_index_dict, wr_index._edge_nodes_index_dict)
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self.assertDictEqual(full_nodes_index_dict, wr_index._full_nodes_index_dict)
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self.assertEqual(len(wr_index._edge_nodes_index_dict), 586)
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self.assertEqual(len(wr_index._full_nodes_index_dict), 2342)
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def test_remove(self):
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wrs = mockWayCollection01.way_relations
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wr_index = WayRelationIndex(wrs)
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wr_to_remove = wrs[0]
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affected_full_node_ids = [nodesData.id for nodesData in wr_to_remove.way.nodes]
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affected_edge_node_ids = wr_to_remove.edge_nodes_ids
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initial_full_lists = [wr_index._full_nodes_index_dict[ndid] for ndid in affected_full_node_ids]
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initial_edge_lists = [wr_index._edge_nodes_index_dict[ndid] for ndid in affected_edge_node_ids]
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expected_final_full_lists = [[wr for wr in li if wr is not wr_to_remove] for li in initial_full_lists]
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expected_final_edge_lists = [[wr for wr in li if wr is not wr_to_remove] for li in initial_edge_lists]
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wr_index.remove(wr_to_remove)
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final_full_lists = [wr_index._full_nodes_index_dict[ndid] for ndid in affected_full_node_ids]
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final_edge_lists = [wr_index._edge_nodes_index_dict[ndid] for ndid in affected_edge_node_ids]
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for idx, li in enumerate(final_full_lists):
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self.assertListEqual(li, expected_final_full_lists[idx])
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for idx, li in enumerate(final_edge_lists):
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self.assertListEqual(li, expected_final_edge_lists[idx])
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def test_way_relations_with_edge_node_id(self):
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wr_index = WayRelationIndex([])
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ref_dict = {
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0: ["fake_wr1", "fake_wr2"],
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1: ["fake_wr3"],
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3: ["fake_wr4", "fake_wr5", "fake_wr6"],
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}
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wr_index._edge_nodes_index_dict = ref_dict
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for key, li in ref_dict.items():
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self.assertListEqual(li, wr_index.way_relations_with_edge_node_id(key))
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def test_way_relations_with_node_id(self):
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wr_index = WayRelationIndex([])
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ref_dict = {
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0: ["fake_wr1", "fake_wr2"],
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1: ["fake_wr3"],
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3: ["fake_wr4", "fake_wr5", "fake_wr6"],
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}
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wr_index._full_nodes_index_dict = ref_dict
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for key, li in ref_dict.items():
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self.assertListEqual(li, wr_index.way_relations_with_node_id(key))
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