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fix and re-enable EKF pytests

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Daniel Agar
2018-05-03 22:25:36 -04:00
parent 4dabf7a1a8
commit 3a61035ac2
21 changed files with 413 additions and 182 deletions
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EKF/tests/pytest/CMakeLists.txt
+73
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@@ -0,0 +1,73 @@
############################################################################
#
# Copyright (c) 2015-2018 ECL Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name ECL nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
if(EKF_PYTHON_TESTS)
add_custom_target(ecl_EKF_pytest
COMMAND env PYTHONPATH=${CMAKE_BINARY_DIR}/EKF/swig/python ${CMAKE_CURRENT_SOURCE_DIR}/ekf_test.py --verbose
DEPENDS ecl_EKF _ecl_EKF
USES_TERMINAL
)
add_custom_target(ecl_EKF_pytest-quick
COMMAND env PYTHONPATH=${CMAKE_BINARY_DIR}/EKF/swig/python ${CMAKE_CURRENT_SOURCE_DIR}/ekf_test.py --quick --verbose
DEPENDS ecl_EKF _ecl_EKF
USES_TERMINAL
)
add_custom_target(ecl_EKF_pytest-benchmark
COMMAND env PYTHONPATH=${CMAKE_BINARY_DIR}/EKF/swig/python ${CMAKE_CURRENT_SOURCE_DIR}/ekf_test.py --benchmark
DEPENDS ecl_EKF _ecl_EKF
USES_TERMINAL
)
# requires python3-tk
add_custom_target(ecl_EKF_pytest-plots
COMMAND env PYTHONPATH=${CMAKE_BINARY_DIR}/EKF/swig/python ${CMAKE_CURRENT_SOURCE_DIR}/ekf_test.py --plots
DEPENDS ecl_EKF _ecl_EKF
USES_TERMINAL
)
add_custom_target(ecl_EKF_pytest-lint
COMMAND env PYTHONPATH=${CMAKE_BINARY_DIR}/EKF/swig/python ${CMAKE_CURRENT_SOURCE_DIR}/lint.py
DEPENDS ecl_EKF _ecl_EKF
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
USES_TERMINAL
)
# ctest entry
add_test(NAME ecl_EKF_pytest_run
COMMAND ${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} --target ecl_EKF_pytest-quick
)
endif()
EKF/tests/pytest/ekf_test → EKF/tests/pytest/ekf_test.py
+1 -1
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@@ -37,7 +37,7 @@
In order to run the tests, make sure to compile the ecl library including the
SWIG bindings, e.g. by running
cmake -DPythonTests=1 ../EKF && make pytest-quick
cmake -DEKF_PYTHON_TESTS=ON .. && make ecl_EKF_pytest-quick
from your build directory.
EKF/tests/pytest/lint → EKF/tests/pytest/lint.py
+4 -4
View File
@@ -45,10 +45,10 @@ from datetime import datetime
CHECKERS = [
['pep8', '.'],
['pep8', './ekf_test'],
['pep8', './lint'],
['pylint', './lint', '--reports=n', '--score=n'],
['pylint', './ekf_test', '--reports=n', '--score=n'],
['pep8', './ekf_test.py'],
['pep8', './lint.py'],
['pylint', './lint.py', '--reports=n', '--score=n'],
['pylint', './ekf_test.py', '--reports=n', '--score=n'],
['pylint', './plot_utils.py', '--reports=n', '--score=n'],
['pylint', './test_altitude.py', '--reports=n', '--score=n'],
['pylint', './test_basics.py', '--reports=n', '--score=n'],
EKF/tests/pytest/test_altitude.py
+7 -7
View File
@@ -49,7 +49,7 @@ from hypothesis import given
from hypothesis import example
from hypothesis import strategies as st
from test_utils import ecl
from test_utils import ecl_EKF
from test_utils import update_sensors
from test_utils import float_array
from test_utils import initialized_ekf
@@ -61,10 +61,10 @@ from test_utils import initialized_ekf
def test_accel_z_bias_converges(z_bias):
"""Make sure the accelerometer bias in z-direction is estimated correctly
"""
ekf = ecl.Ekf()
ekf = ecl_EKF.Ekf()
time_usec = 1000
dt_usec = ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000
dt_usec = ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000
# Run for a while
n_samples = 10000
@@ -84,7 +84,7 @@ def test_accel_z_bias_converges(z_bias):
dt_usec,
accel=float_array([0.0,
0.0,
-ecl.one_g + z_bias]))
-ecl_EKF.one_g + z_bias]))
ekf.update()
time_usec += dt_usec
@@ -136,7 +136,7 @@ def test_converges_to_baro_altitude(altitude):
# Due to hypothesis not interacting with pytest, cannot use fixture here
ekf, time_usec = initialized_ekf()
dt_usec = ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000
dt_usec = ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000
# No samples, half are used for ramping up / down to the altitude
n_samples = 200
@@ -166,9 +166,9 @@ def test_converges_to_baro_altitude(altitude):
dt_usec,
accel=float_array([0,
0,
-ecl.one_g - rampup_accel
-ecl_EKF.one_g - rampup_accel
if i < n_samples // 4
else -ecl.one_g + rampup_accel]),
else -ecl_EKF.one_g + rampup_accel]),
baro_data=current_state.alt)
ekf.update()
EKF/tests/pytest/test_basics.py
+2 -2
View File
@@ -42,7 +42,7 @@ from __future__ import absolute_import
import pytest
from test_utils import ecl
from test_utils import ecl_EKF
# Pylint does not like pytest fixtures, disable the warning
# pylint: disable=redefined-outer-name
@@ -93,7 +93,7 @@ def test_status_on_imu_mag_baro(initialized_ekf):
def test_converges_to_zero():
"""Make sure the EKF with zero inputs converges to / stays at zero
"""
ekf = ecl.Ekf()
ekf = ecl_EKF.Ekf()
time_usec = 1000
dt_usec = 5000
EKF/tests/pytest/test_sampling.py
+16 -16
View File
@@ -44,14 +44,14 @@ import pytest
from hypothesis import given
from hypothesis import strategies as st
from test_utils import ecl
from test_utils import ecl_EKF
from test_utils import float_array
@pytest.mark.parametrize("dt_usec, downsampling_factor", [
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 3, 3),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 2, 2),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000, 1),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 3, 3),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 2, 2),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000, 1),
])
@given(accel_x=st.floats(-5, 5),
accel_y=st.floats(-5, 5),
@@ -71,7 +71,7 @@ def test_imu_input(dt_usec, downsampling_factor, accel_x, accel_y, accel_z):
accel_y,
accel_z]) * dt_usec / 1e6
ekf = ecl.Ekf()
ekf = ecl_EKF.Ekf()
# Run to accumulate buffer (choose sample after downsampling)
for _ in range(20 * downsampling_factor):
time_usec += dt_usec
@@ -94,14 +94,14 @@ def test_imu_input(dt_usec, downsampling_factor, accel_x, accel_y, accel_z):
@pytest.mark.parametrize("dt_usec, expected_dt_usec", [
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 3,
ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 2,
ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000,
ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 * 2,
ecl.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 * 2),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 3,
ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 // 2,
ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000,
ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000),
(ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 * 2,
ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000 * 2),
(500 * 1000,
500 * 1000)
])
@@ -115,7 +115,7 @@ def test_imu_sampling(dt_usec, expected_dt_usec):
time_usec = 0
delta_ang = float_array([0, 0, 0])
delta_vel = float_array([0, 0, 0])
ekf = ecl.Ekf()
ekf = ecl_EKF.Ekf()
for _ in range(100):
time_usec += dt_usec
ekf.set_imu_data(time_usec,
@@ -126,9 +126,9 @@ def test_imu_sampling(dt_usec, expected_dt_usec):
imu_sample = ekf.get_imu_sample_delayed()
assert imu_sample.delta_ang_dt == pytest.approx(
expected_dt_usec / 1e6, abs=1e-6)
expected_dt_usec / 1e6, abs=1e-5)
assert imu_sample.delta_vel_dt == pytest.approx(
expected_dt_usec / 1e6, abs=1e-6)
expected_dt_usec / 1e6, abs=1e-5)
# Make sure the timestamp of the last sample is a small positive multiple
# of the period away from now
assert (time_usec - imu_sample.time_us) >= 0
EKF/tests/pytest/test_utils.py
+3 -3
View File
@@ -44,7 +44,7 @@ import numpy as np
import pytest
try:
import ecl # pylint: disable=import-error
import ecl_EKF # pylint: disable=import-error
except ImportError:
print("ImportError: ecl library cannot be found."
" Make sure to compile ecl with Python bindings "
@@ -62,7 +62,7 @@ def float_array(inp):
def update_sensors(ekf, # pylint: disable=too-many-arguments
time_usec,
dt_usec,
accel=float_array([0.0, 0.0, -ecl.one_g]),
accel=float_array([0.0, 0.0, -ecl_EKF.one_g]),
ang_vel=float_array([0.0, 0.0, 0.0]),
mag_data=float_array([1.0, 0.0, 0.0]),
baro_data=0.0):
@@ -83,7 +83,7 @@ def update_sensors(ekf, # pylint: disable=too-many-arguments
def initialized_ekf():
"""Provides an initialized ekf, ready to go
"""
ekf = ecl.Ekf()
ekf = ecl_EKF.Ekf()
time_usec = 1000
dt_usec = 5000