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 test_turn(self, part: ThrottleEllipsePart,
throttle_config_controller: ThrottleConfigController):
ellipse = Ellipse(center=(12, 13), axes=(10, 50), angle=90, trust=1.0)
assert part.run(road_ellipse=ellipse) < 0.5
ellipse = Ellipse(center=(12, 13), axes=(50, 10), angle=90, trust=1.0)
assert part.run(road_ellipse=ellipse) < 0.5
ellipse = Ellipse(center=(12, 13),
axes=(10, 50000),
angle=90,
trust=1.0)
assert part.run(
road_ellipse=ellipse) == throttle_config_controller.min_speed
def test_trust_ellipse(
self, part: ThrottleEllipsePart,
throttle_config_controller: ThrottleConfigController):
ellipse = Ellipse(center=(12, 13), axes=(50, 50), angle=90, trust=0.0)
assert part.run(
road_ellipse=ellipse) == throttle_config_controller.min_speed
ellipse = Ellipse(center=(12, 13), axes=(50, 50), angle=90, trust=0.5)
assert throttle_config_controller.min_speed < part.run(
ellipse) < throttle_config_controller.max_speed
ellipse = Ellipse(center=(12, 13), axes=(50, 50), angle=90, trust=1.0)
assert part.run(
road_ellipse=ellipse) == throttle_config_controller.max_speed
def test_straight_line(
self, part: ThrottleEllipsePart,
throttle_config_controller: ThrottleConfigController):
ellipse = Ellipse(center=(12, 13), axes=(50, 50), angle=90, trust=1.0)
assert part.run(road_ellipse=ellipse) == 1.0
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