def test_bad_trust_at_start(self, part: AngleRoadPart):
assert part.run(road_ellipse=Ellipse((70, 71), (100, 200), 135.0, trust=0.1)) == 0.0, \
'Angle should be ignored when no previous value and bad trust value'
assert part.run(road_ellipse=Ellipse((70, 71), (100, 200), 135.0, trust=0.1)) == 0.0, \
'No previous angle value'
assert part.run(road_ellipse=Ellipse((70, 71), (100, 200), 135.0, trust=0.5)) == -0.5, \
'At startup, use average between angle and straight ahead'
def test_straight_ahead(self, part: AngleRoadPart):
assert 0 < part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 89.0, 1.0)) < 0.1
assert -0.1 < part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 91.0, 1.0)) < 0.0
assert 0 < part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 269.0, 1.0)) < 0.1
assert -0.1 < part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 271.0, 1.0)) < 0.0
def fixture_vehicle(video_camera: VideoCamera, road_config: RoadConfigController,
throttle_config: ThrottleConfigController) -> Vehicle:
vehicle = Vehicle()
vehicle.register(video_camera)
vehicle.register(ComponentRoadPart2())
vehicle.register(AngleRoadPart())
vehicle.register(ThrottleEllipsePart(throttle_config_controller=throttle_config))
vehicle.register(RoadEllipseDebugPart())
vehicle.register(ThrottleDebugPart(input_img_key=RoadEllipseDebugPart.IMG_ROAD_ELLIPSE))
return vehicle
def _configure_angle_part(self, cfg):
if 'keras' == cfg.ANGLE_ALGO:
self.register(KerasPilot(img_input=CAM_IMAGE, model_path=Path(cfg.KERAS_MODEL)))
else:
self.register(AngleRoadPart())
self.register(RoadEllipseDebugPart())
def test_trust_not_perfect(self, part: AngleRoadPart):
# Record previous value
assert part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 45.0, trust=1.0)) == 1.0
assert part.run(road_ellipse=Ellipse((70, 71), (100, 200), 135.0, trust=0.5)) == 0.25, \
'At startup, use weighted average between current and previous angles'
def test_bad_trust(self, part: AngleRoadPart):
assert 0 < part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 89.0, trust=1.0)) < 0.1
assert 0 < part.run(road_ellipse=Ellipse((70, 71), (100, 200), 135.0, trust=0.1)) < 0.1, \
'Previous value should be used when trust < 0.5'
def test_turn_left(self, part: AngleRoadPart):
assert part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 135.0, 1.0)) == -1.0
assert part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 180.0, 1.0)) == -1.0
def test_turn_right(self, part: AngleRoadPart):
assert part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 45.0, 1.0)) == 1.0
assert part.run(
road_ellipse=Ellipse((70, 71), (100, 200), 0.1, 1.0)) == 1.0
def fixture_part(self) -> AngleRoadPart:
part = AngleRoadPart()
yield part
part.shutdown()