def setUp(self):
self.FRC = OSIRulesChecker()
orient3d = Orientation3d()
orient3d.roll = 5
orient3d.pitch = 2
orient3d.yaw = 2
self.linked_orient3d = LinkedProtoField(orient3d, "Orientation3d")
class TestIsSet(unittest.TestCase):
def setUp(self):
self.FRC = OSIRulesChecker()
pb_ORIENTATION3D = Orientation3d()
pb_ORIENTATION3D.roll = 1
# pb_ORIENTATION3D.pitch = 2 --> pitch is not set
pb_ORIENTATION3D.yaw = 2
self.ORIENTATION3D = LinkedProtoField(pb_ORIENTATION3D,
"Orientation3d")
def tearDown(self):
del self.FRC
del self.ORIENTATION3D
def test_comply_is_set(self):
rule = Rule(verb="is_set", field_name="roll")
compliance = self.FRC.is_set(self.ORIENTATION3D, rule)
self.assertTrue(compliance)
rule = Rule(verb="is_set", field_name="yaw")
compliance = self.FRC.is_set(self.ORIENTATION3D, rule)
self.assertTrue(compliance)
def test_comply_is_not_set(self):
rule = Rule(verb="is_set", field_name="pitch")
compliance = self.FRC.is_set(self.ORIENTATION3D, rule)
self.assertFalse(compliance)
def setUp(self):
self.FRC = OSIRulesChecker()
pb_VECTOR3D = Vector3d()
pb_VECTOR3D.x = 1
pb_VECTOR3D.y = 2
self.VECTOR3D = LinkedProtoField(pb_VECTOR3D, "Vector3D")
def setUp(self):
self.FRC = OSIRulesChecker()
sv1 = SensorView()
linked_sv1 = LinkedProtoField(sv1, name="SensorView")
gt1 = sv1.global_ground_truth
linked_gt1 = LinkedProtoField(gt1,
name="global_ground_truth",
parent=linked_sv1)
gt1.host_vehicle_id.value = 0
hvid1 = gt1.host_vehicle_id
self.linked_hvid1 = LinkedProtoField(hvid1,
name="host_vehicle_id",
parent=linked_gt1)
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
gt2 = sv2.global_ground_truth
linked_gt2 = LinkedProtoField(gt2,
name="global_ground_truth",
parent=linked_sv2)
gt2.host_vehicle_id.value = 1
hvid1 = gt2.host_vehicle_id
self.linked_hvid2 = LinkedProtoField(hvid1,
name="host_vehicle_id",
parent=linked_gt2)
class TestIsGreaterThan(unittest.TestCase):
""" Test for rule is_greater_than """
def setUp(self):
self.FRC = OSIRulesChecker()
def tearDown(self):
del self.FRC
def test_comply_greater(self):
field_params_rule_params = [
[2, 1],
[0, -1],
[1, 0],
[1, -1],
[-1, -2],
[-1.3, -1.5],
[0.9, -1.3],
]
for fr_param in field_params_rule_params:
with self.subTest(fr_param=fr_param):
self.assertTrue(
self.FRC.is_greater_than(
LinkedProtoField(value=fr_param[0]),
Rule(verb="is_greater_than", params=fr_param[1]),
))
def test_not_comply_greater(self):
field_params_rule_params = [
[2, 1],
[0, -1],
[1, 0],
[1, -1],
[-1, -2],
[-1.3, -1.5],
[0.9, -1.3],
]
for fr_param in field_params_rule_params:
with self.subTest(fr_param=fr_param):
self.assertFalse(
self.FRC.is_greater_than(
LinkedProtoField(value=fr_param[1]),
Rule(verb="is_greater_than", params=fr_param[0]),
))
def test_not_comply_equal(self):
field_params_rule_params = [[3, 3], [0, 0], [-1, -1], [-1.5, -1.5],
[2.3, 2.3]]
for fr_param in field_params_rule_params:
with self.subTest(fr_param=fr_param):
self.assertFalse(
self.FRC.is_greater_than(
LinkedProtoField(value=fr_param[1]),
Rule(verb="is_greater_than", params=fr_param[0]),
))
def setUp(self):
self.FRC = OSIRulesChecker()
pb_ORIENTATION3D = Orientation3d()
pb_ORIENTATION3D.roll = 1
# pb_ORIENTATION3D.pitch = 2 --> pitch is not set
pb_ORIENTATION3D.yaw = 2
self.ORIENTATION3D = LinkedProtoField(pb_ORIENTATION3D,
"Orientation3d")
class TestIsIsoCountryCode(unittest.TestCase):
def setUp(self):
self.FRC = OSIRulesChecker()
def tearDown(self):
del self.FRC
def test_comply_iso_country_code(self):
self.assertTrue(self.FRC.is_iso_country_code("DEU", None))
def test_not_comply_iso_country_code(self):
self.assertFalse(self.FRC.is_iso_country_code("1234", None))
def setUp(self):
self.FRC = OSIRulesChecker()
sv1 = SensorView()
linked_sv1 = LinkedProtoField(sv1, name="SensorView")
gt1 = sv1.global_ground_truth
linked_gt1 = LinkedProtoField(gt1,
name="global_ground_truth",
parent=linked_sv1)
gtlb1 = gt1.lane_boundary.add()
linked_gtlb1 = LinkedProtoField(gtlb1,
name="lane_boundary",
parent=linked_gt1)
bladd1 = gtlb1.boundary_line.add()
bladd1.position.x = 1699.2042678176733
bladd1.position.y = 100.16895580204906
bladd1.position.z = 0.0
bladd1.width = 0.13
bladd1.height = 0.0
self.lb1 = LinkedProtoField(bladd1,
name="boundary_line",
parent=linked_gtlb1)
self.lb1.path = 'SensorView.global_ground_truth.lane_boundary.boundary_line'
# self.lb1.parent =
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
gt2 = sv2.global_ground_truth
linked_gt2 = LinkedProtoField(gt2,
name="global_ground_truth",
parent=linked_sv2)
gtlb2 = gt2.lane_boundary.add()
linked_gtlb2 = LinkedProtoField(gtlb2,
name="lane_boundary",
parent=linked_gt2)
bladd2 = gtlb2.boundary_line.add()
bladd2.position.x = 1699.2042678176733
bladd2.position.y = 100.16895580204906
bladd2.position.z = 0.0
bladd2.width = 0.14
bladd2.height = 0.13
self.lb2 = LinkedProtoField(bladd2,
name="boundary_line",
parent=linked_gtlb2)
self.lb2.path = 'SensorView.global_ground_truth.lane_boundary.boundary_line'
class TestIsGlobalUnique(unittest.TestCase):
def setUp(self):
self.FRC = OSIRulesChecker()
sv = SensorView()
linked_sv = LinkedProtoField(sv, name="SensorView")
sid = sv.sensor_id
sid.value = 0
self.linked_sid = LinkedProtoField(sid,
name="sensor_id",
parent=linked_sv)
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
sid2 = sv2.sensor_id
sid2.value = 2
self.linked_sid2 = LinkedProtoField(sid2,
name="sensor_id",
parent=linked_sv2)
def tearDown(self):
del self.FRC
del self.linked_sid
del self.linked_sid2
def test_comply_is_globally_unique(self):
"""
Test if the ID Manager has unique indices
"""
container = TypeRulesContainer()
proto_path = ProtoMessagePath(
["SensorView", "sensor_id", "is_globally_unique"])
container.add_type_from_path(proto_path)
rule = Rule(
verb="is_globally_unique",
field_name="sensor_id",
extra_params=dict(),
path=proto_path,
)
rule.root = container
self.FRC.is_globally_unique(self.linked_sid, rule)
self.FRC.is_globally_unique(self.linked_sid2, rule)
self.FRC.is_globally_unique(self.linked_sid2, rule)
index_dict = self.FRC.id_manager._index
self.assertEqual(2, len(index_dict))
def setUp(self):
self.FRC = OSIRulesChecker()
sv = SensorView()
linked_sv = LinkedProtoField(sv, name="SensorView")
sid = sv.sensor_id
sid.value = 0
self.linked_sid = LinkedProtoField(sid,
name="sensor_id",
parent=linked_sv)
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
sid2 = sv2.sensor_id
sid2.value = 2
self.linked_sid2 = LinkedProtoField(sid2,
name="sensor_id",
parent=linked_sv2)
class TestIsDifferent(unittest.TestCase):
"""Test class of OSIDataContainer class"""
def setUp(self):
self.FRC = OSIRulesChecker()
def tearDown(self):
del self.FRC
def test_comply(self):
field = LinkedProtoField(value=3)
rule = Rule(verb="is_different", params=2)
compliance = self.FRC.is_different(field, rule)
self.assertTrue(compliance)
def test_not_comply(self):
field = LinkedProtoField(value=2)
rule = Rule(verb="is_different", params=2)
compliance = self.FRC.is_different(field, rule)
self.assertFalse(compliance)
def process_timestep(timestep):
"""Process one timestep"""
message = MESSAGE_CACHE[timestep]
rule_checker = OSIRulesChecker(LOGGER)
timestamp = rule_checker.set_timestamp(message.value.timestamp, timestep)
ID_TO_TS[timestep] = timestamp
LOGGER.log_messages[timestep] = []
LOGGER.debug_messages[timestep] = []
LOGGER.info(None, f'Analyze message of timestamp {timestamp}', False)
# Check if timestamp already exists
if timestamp in TIMESTAMP_ANALYZED:
LOGGER.error(timestep, f"Timestamp already exists")
TIMESTAMP_ANALYZED.append(timestamp)
BAR.goto(len(TIMESTAMP_ANALYZED))
# Check common rules
getattr(rule_checker, 'is_valid')(
message, VALIDATION_RULES.get_rules().get_type(MESSAGE_TYPE.value))
LOGS.extend(LOGGER.log_messages[timestep])
class TestIsOptional(unittest.TestCase):
"""
This Unit test just checks if the rule is_optional is set to True
because in protobuf 3 every message field is optional
"""
def setUp(self):
self.FRC = OSIRulesChecker()
def tearDown(self):
del self.FRC
def test_comply_is_optional(self):
self.assertTrue(
self.FRC.is_optional(LinkedProtoField(value=1),
Rule(verb="is_optional", params=None)))
class TestCheckIf(unittest.TestCase):
"""Test class of OSI Rule check_if class"""
def setUp(self):
self.FRC = OSIRulesChecker()
pb_VECTOR3D = Vector3d()
pb_VECTOR3D.x = 1
pb_VECTOR3D.y = 2
self.VECTOR3D = LinkedProtoField(pb_VECTOR3D, "Vector3D")
def test_comply1(self):
rule = Rule(verb="check_if",
field_name='x',
params=[{
'is_equal': 3,
'target': 'this.y'
}],
extra_params={'do_check': [{
'is_equal': 2
}]})
compliance = self.FRC.check_if(self.VECTOR3D, rule)
self.assertTrue(compliance)
def test_comply2(self):
rule = Rule(verb="check_if",
field_name='x',
params=[{
'is_equal': 2,
'target': 'this.y'
}],
extra_params={'do_check': [{
'is_equal': 1
}]})
compliance = self.FRC.check_if(self.VECTOR3D, rule)
self.assertTrue(compliance)
def test_comply_is_set(self):
rule = Rule(verb="check_if",
field_name='x',
params=[{
'is_equal': 2,
'target': 'this.y'
}],
extra_params={'do_check': [{
'is_set': None
}]})
compliance = self.FRC.check_if(self.VECTOR3D, rule)
self.assertTrue(compliance)
def test_not_comply(self):
rule = Rule(verb="check_if",
field_name='x',
params=[{
'is_equal': 2,
'target': 'this.y'
}],
extra_params={'do_check': [{
'is_equal': 2
}]})
compliance = self.FRC.check_if(self.VECTOR3D, rule)
self.assertFalse(compliance)
def test_not_comply_is_set_if(self):
rule = Rule(verb="check_if",
field_name='z',
params=[{
'is_equal': 2,
'target': 'this.y'
}],
extra_params={'do_check': [{
'is_set': None
}]})
compliance = self.FRC.check_if(self.VECTOR3D, rule)
self.assertFalse(compliance)
class TestRefersTo(unittest.TestCase):
def setUp(self):
self.FRC = OSIRulesChecker()
sv1 = SensorView()
linked_sv1 = LinkedProtoField(sv1, name="SensorView")
gt1 = sv1.global_ground_truth
linked_gt1 = LinkedProtoField(gt1,
name="global_ground_truth",
parent=linked_sv1)
gt1.host_vehicle_id.value = 0
hvid1 = gt1.host_vehicle_id
self.linked_hvid1 = LinkedProtoField(hvid1,
name="host_vehicle_id",
parent=linked_gt1)
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
gt2 = sv2.global_ground_truth
linked_gt2 = LinkedProtoField(gt2,
name="global_ground_truth",
parent=linked_sv2)
gt2.host_vehicle_id.value = 1
hvid1 = gt2.host_vehicle_id
self.linked_hvid2 = LinkedProtoField(hvid1,
name="host_vehicle_id",
parent=linked_gt2)
def tearDown(self):
del self.FRC
del self.linked_hvid1
del self.linked_hvid2
def test_comply_refers_to(self):
"""
Check if the message object is referenced correctly
"""
container = TypeRulesContainer()
proto_path = ProtoMessagePath(
["GroundTruth", "host_vehicle_id", "refers_to"])
container.add_type_from_path(proto_path)
rule = Rule(
verb="refers_to",
params="MovingObject",
extra_params=dict(),
path=proto_path,
field_name="host_vehicle_id",
)
rule.root = container
self.FRC.refers_to(self.linked_hvid1, rule)
self.FRC.refers_to(self.linked_hvid2, rule)
self.FRC.refers_to(self.linked_hvid1, rule)
references_list = self.FRC.id_manager._references
print(references_list)
# Check the instance type of the reference
self.assertIsInstance(references_list[0][0], GroundTruth)
# Check the id assignment of the reference to the object
self.assertEqual(references_list[0][0].host_vehicle_id.value, 0)
self.assertEqual(references_list[0][1], 0)
self.assertEqual(references_list[0][2], "MovingObject")
def setUp(self):
self.FRC = OSIRulesChecker()
class TestIsValid(unittest.TestCase):
def setUp(self):
self.FRC = OSIRulesChecker()
orient3d = Orientation3d()
orient3d.roll = 5
orient3d.pitch = 2
orient3d.yaw = 2
self.linked_orient3d = LinkedProtoField(orient3d, "Orientation3d")
def tearDown(self):
del self.FRC
del self.linked_orient3d
def test_comply_is_valid(self):
container = TypeRulesContainer()
proto_path = ProtoMessagePath(['Orientation3d', 'roll'])
container.add_type_from_path(proto_path)
root_container = TypeRulesContainer()
root_path = ProtoMessagePath(['Orientation3d'])
root_container.add_type_from_path(root_path)
rule1 = Rule(verb="is_greater_than",
field_name='roll',
params=0,
path=proto_path,
extra_params=dict())
rule2 = Rule(verb="is_less_than",
field_name='roll',
params=10,
path=proto_path,
extra_params=dict())
rules = FieldRules("roll",
rules=[rule1, rule2],
path=proto_path,
root=root_container)
rule = MessageTypeRules(name="Orientation3d")
rule.add_field(rules)
rule.add_type_from_path(rules)
rule.root = container
rule._path = proto_path
rule.path = proto_path
compliance = self.FRC.is_valid(self.linked_orient3d, rule)
self.assertTrue(compliance)
def test_comply_is_not_valid(self):
container = TypeRulesContainer()
proto_path = ProtoMessagePath(['Orientation3d', 'roll'])
container.add_type_from_path(proto_path)
root_container = TypeRulesContainer()
root_path = ProtoMessagePath(['Orientation3d'])
root_container.add_type_from_path(root_path)
rule1 = Rule(verb="is_greater_than",
field_name='roll',
params=6,
path=proto_path,
extra_params=dict())
rule2 = Rule(verb="is_less_than",
field_name='roll',
params=10,
path=proto_path,
extra_params=dict())
rules = FieldRules("roll",
rules=[rule1, rule2],
path=proto_path,
root=root_container)
rule = MessageTypeRules(name="Orientation3d")
rule.add_field(rules)
rule.add_type_from_path(rules)
rule.root = container
rule._path = proto_path
rule.path = proto_path
compliance = self.FRC.is_valid(self.linked_orient3d, rule)
self.assertFalse(compliance)
class TestFirstElement(unittest.TestCase):
def setUp(self):
self.FRC = OSIRulesChecker()
sv1 = SensorView()
linked_sv1 = LinkedProtoField(sv1, name="SensorView")
gt1 = sv1.global_ground_truth
linked_gt1 = LinkedProtoField(gt1, name="global_ground_truth", parent=linked_sv1)
gtlb1 = gt1.lane_boundary.add()
linked_gtlb1 = LinkedProtoField(gtlb1, name="lane_boundary", parent=linked_gt1)
bladd1 = gtlb1.boundary_line.add()
bladd1.position.x = 1699.2042678176733
bladd1.position.y = 100.16895580204906
bladd1.position.z = 0.0
bladd1.width = 0.13
bladd1.height = 0.0
self.lb1 = LinkedProtoField(bladd1, name="boundary_line", parent=linked_gtlb1)
self.lb1.path = 'SensorView.global_ground_truth.lane_boundary.boundary_line'
# self.lb1.parent =
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
gt2 = sv2.global_ground_truth
linked_gt2 = LinkedProtoField(gt2, name="global_ground_truth", parent=linked_sv2)
gtlb2 = gt2.lane_boundary.add()
linked_gtlb2 = LinkedProtoField(gtlb2, name="lane_boundary", parent=linked_gt2)
bladd2 = gtlb2.boundary_line.add()
bladd2.position.x = 1699.2042678176733
bladd2.position.y = 100.16895580204906
bladd2.position.z = 0.0
bladd2.width = 0.14
bladd2.height = 0.13
self.lb2 = LinkedProtoField(bladd2, name="boundary_line", parent=linked_gtlb2)
self.lb2.path = 'SensorView.global_ground_truth.lane_boundary.boundary_line'
def tearDown(self):
del self.FRC
def test_comply_last_element(self):
field_list = [self.lb1, self.lb2]
container = TypeRulesContainer()
proto_path = ProtoMessagePath(['LaneBoundary', 'BoundaryPoint'])
container.add_type_from_path(proto_path)
container.add_type_from_path(ProtoMessagePath(['Vector3d']))
rule = Rule(verb="last_element",
params={'width': [{'is_equal': 0.14}],
'height': [{'is_equal': 0.13}]},
path=proto_path,
extra_params=dict(),
field_name='boundary_line')
rule.root = container
compliance = self.FRC.last_element(field_list, rule)
self.assertTrue(compliance)
def test_not_comply_last_element(self):
field_list = [self.lb1, self.lb2]
container = TypeRulesContainer()
proto_path = ProtoMessagePath(['LaneBoundary', 'BoundaryPoint'])
container.add_type_from_path(proto_path)
container.add_type_from_path(ProtoMessagePath(['Vector3d']))
rule = Rule(verb="last_element",
params={'width': [{'is_equal': 0.11}],
'height': [{'is_equal': 0.13}]},
path=proto_path,
extra_params=dict(),
field_name='boundary_line')
rule.root = container
compliance = self.FRC.last_element(field_list, rule)
self.assertFalse(compliance)
