def test_scans_first_packet(packet: client.LidarPacket,
packets: client.PacketSource) -> None:
"""Check that data in the first packet survives batching to a scan."""
scans = iter(client.Scans(packets))
scan = next(scans)
h = packet._pf.pixels_per_column
w = packet._pf.columns_per_packet
assert np.array_equal(packet.field(ChanField.RANGE),
scan.field(ChanField.RANGE)[:h, :w])
assert np.array_equal(packet.field(ChanField.REFLECTIVITY),
scan.field(ChanField.REFLECTIVITY)[:h, :w])
assert np.array_equal(packet.field(client.ChanField.SIGNAL),
scan.field(client.ChanField.SIGNAL)[:h, :w])
assert np.array_equal(packet.field(client.ChanField.NEAR_IR),
scan.field(client.ChanField.NEAR_IR)[:h, :w])
assert np.all(packet.header(ColHeader.FRAME_ID) == scan.frame_id)
assert np.array_equal(packet.header(ColHeader.TIMESTAMP),
scan.header(ColHeader.TIMESTAMP)[:w])
assert np.array_equal(packet.header(ColHeader.ENCODER_COUNT),
scan.header(ColHeader.ENCODER_COUNT)[:w])
assert np.array_equal(packet.header(ColHeader.STATUS),
scan.header(ColHeader.STATUS)[:w])
def test_read_real_packet(packet: client.LidarPacket) -> None:
"""Read some arbitrary values from a packet and check header invariants."""
assert packet.field(client.ChanField.RANGE)[0, 0] == 1723
assert packet.field(client.ChanField.REFLECTIVITY)[0, 0] == 196
assert packet.field(client.ChanField.SIGNAL)[0, 0] == 66
assert packet.field(client.ChanField.NEAR_IR)[0, 0] == 1768
assert np.all(np.diff(packet.header(client.ColHeader.FRAME_ID)) == 0)
assert np.all(np.diff(packet.header(client.ColHeader.MEASUREMENT_ID)) == 1)
# in 512xN mode, the angle between measurements is exactly 176 encoder ticks
assert np.all(
np.diff(packet.header(client.ColHeader.ENCODER_COUNT)) == 176)
assert np.all(packet.header(client.ColHeader.STATUS) == 0xffffffff)
def test_read_legacy_packet(packet: client.LidarPacket) -> None:
"""Read some arbitrary values from a packet and check header invariants."""
assert packet.field(client.ChanField.RANGE)[-1, 0] == 12099
assert packet.field(client.ChanField.REFLECTIVITY)[-1, 0] == 1017
assert packet.field(client.ChanField.SIGNAL)[-1, 0] == 6
assert packet.field(client.ChanField.NEAR_IR)[-1, 0] == 13
assert np.all(np.diff(packet.header(client.ColHeader.FRAME_ID)) == 0)
assert np.all(np.diff(packet.header(client.ColHeader.MEASUREMENT_ID)) == 1)
assert np.all(np.diff(packet.timestamp) > 0)
assert np.all(np.diff(packet.measurement_id) == 1)
assert packet.packet_type == 0
assert packet.frame_id == 5424
assert packet.init_id == 0
assert packet.prod_sn == 0
# in 1024xN mode, the angle between measurements is exactly 88 encoder ticks
assert np.all(np.diff(packet.header(client.ColHeader.ENCODER_COUNT)) == 88)
assert np.all(packet.status == 0xffffffff)