def test_lidar_packet(info: client.SensorInfo) -> None:
pf = _client.PacketFormat.from_info(info)
"""Test reading and writing values from empty packets."""
p = client.LidarPacket(bytes(pf.lidar_packet_size), info)
w = pf.columns_per_packet
h = pf.pixels_per_column
assert len(
client.ChanField.__members__) == 4, "Don't forget to update tests!"
assert np.array_equal(p.field(client.ChanField.RANGE), np.zeros((h, w)))
assert np.array_equal(p.field(client.ChanField.REFLECTIVITY),
np.zeros((h, w)))
assert np.array_equal(p.field(client.ChanField.SIGNAL), np.zeros((h, w)))
assert np.array_equal(p.field(client.ChanField.NEAR_IR), np.zeros((h, w)))
assert len(
client.ColHeader.__members__) == 5, "Don't forget to update tests!"
assert np.array_equal(p.header(client.ColHeader.TIMESTAMP), np.zeros(w))
assert np.array_equal(p.header(client.ColHeader.FRAME_ID), np.zeros(w))
assert np.array_equal(p.header(client.ColHeader.MEASUREMENT_ID),
np.zeros(w))
assert np.array_equal(p.header(client.ColHeader.ENCODER_COUNT),
np.zeros(w))
assert np.array_equal(p.header(client.ColHeader.STATUS), np.zeros(w))
# should not be able to modify a packet built from a read-only buffer
with pytest.raises(ValueError):
p.field(client.ChanField.SIGNAL)[0] = 1
with pytest.raises(ValueError):
p.header(client.ColHeader.MEASUREMENT_ID)[0] = 1
# a writeable lidar packet
q = client.LidarPacket(bytearray(pf.lidar_packet_size), info)
q.field(client.ChanField.SIGNAL)[:] = np.ones((h, w))
assert np.array_equal(q.field(client.ChanField.SIGNAL), np.ones((h, w)))
# TODO: masking prevents writing RANGE. Need separate get/set for fields
# q.view(client.ChanField.RANGE)[:] = np.ones((h, w))
# assert np.array_equal(q.view(client.ChanField.RANGE), np.ones((h, w)))
with pytest.raises(ValueError):
q.field(client.ChanField.SIGNAL)[:] = np.ones((w, h))
with pytest.raises(ValueError):
q.field(client.ChanField.SIGNAL)[:] = np.ones((h - 1, w))
with pytest.raises(ValueError):
q.field(client.ChanField.SIGNAL)[:] = np.ones((h, w + 1))
q.header(client.ColHeader.MEASUREMENT_ID)[:] = np.ones(w)
assert np.array_equal(q.header(client.ColHeader.MEASUREMENT_ID),
np.ones(w))
def test_make_packets(meta: client.SensorInfo) -> None:
pf = _client.PacketFormat.from_info(meta)
client.ImuPacket(bytes(pf.imu_packet_size), meta)
client.ImuPacket(bytearray(pf.imu_packet_size), meta)
with pytest.raises(ValueError):
client.ImuPacket(bytes(), meta)
with pytest.raises(ValueError):
client.ImuPacket(bytes(pf.imu_packet_size - 1), meta)
client.LidarPacket(bytes(pf.lidar_packet_size), meta)
client.LidarPacket(bytearray(pf.lidar_packet_size), meta)
with pytest.raises(ValueError):
client.LidarPacket(bytes(), meta)
with pytest.raises(ValueError):
client.LidarPacket(bytes(pf.lidar_packet_size - 1), meta)
def random_lidar_packets(metadata,
random_time=NO_RANDOM_TIME
) -> Iterator[client.LidarPacket]:
global current_timestamp
pf = _client.PacketFormat.from_info(metadata)
timestamp = None
current_timestamp += random() * 4.0
if random_time == RANDOM_FLOAT:
timestamp = current_timestamp
while True:
buf = bytearray(getrandbits(8) for _ in range(pf.lidar_packet_size))
yield client.LidarPacket(buf, metadata, timestamp)
def test_lidar_packet(meta: client.SensorInfo) -> None:
"""Test reading and writing values from empty packets."""
pf = _client.PacketFormat.from_info(meta)
p = client.LidarPacket(bytes(pf.lidar_packet_size), meta)
w = pf.columns_per_packet
h = pf.pixels_per_column
assert len(
client.ChanField.__members__) == 13, "Don't forget to update tests!"
assert np.array_equal(p.field(client.ChanField.RANGE), np.zeros((h, w)))
assert np.array_equal(p.field(client.ChanField.REFLECTIVITY),
np.zeros((h, w)))
assert np.array_equal(p.field(client.ChanField.SIGNAL), np.zeros((h, w)))
assert np.array_equal(p.field(client.ChanField.NEAR_IR), np.zeros((h, w)))
assert len(
client.ColHeader.__members__) == 5, "Don't forget to update tests!"
assert np.array_equal(p.header(client.ColHeader.TIMESTAMP), np.zeros(w))
assert np.array_equal(p.timestamp, np.zeros(w))
assert np.array_equal(p.header(client.ColHeader.FRAME_ID), np.zeros(w))
assert np.array_equal(p.header(client.ColHeader.MEASUREMENT_ID),
np.zeros(w))
assert np.array_equal(p.measurement_id, np.zeros(w))
assert np.array_equal(p.header(client.ColHeader.ENCODER_COUNT),
np.zeros(w))
assert np.array_equal(p.header(client.ColHeader.STATUS), np.zeros(w))
assert np.array_equal(p.status, np.zeros(w))
assert p.frame_id == 0
# should not be able to modify packet data
with pytest.raises(ValueError):
p.field(client.ChanField.SIGNAL)[0] = 1
with pytest.raises(ValueError):
p.header(client.ColHeader.MEASUREMENT_ID)[0] = 1
with pytest.raises(ValueError):
p.status[:] = 1
with pytest.raises(AttributeError):
p.frame_id = 1 # type: ignore
def fake_packets(metadata: client.SensorInfo,
n_lidar: int = 0,
n_imu: int = 0,
timestamped: bool = False) -> Iterator[client.Packet]:
pf = _client.PacketFormat.from_info(metadata)
current_ts = time.time()
choices = [True] * n_lidar + [False] * n_imu
shuffle(choices)
for is_lidar in choices:
current_ts += random()
packet_ts = current_ts if timestamped else None
if is_lidar:
buf = bytearray(
getrandbits(8) for _ in range(pf.lidar_packet_size))
yield client.LidarPacket(buf, metadata, packet_ts)
else:
buf = bytearray(getrandbits(8) for _ in range(pf.imu_packet_size))
yield client.ImuPacket(buf, metadata, packet_ts)