Add Python wrapper to ecl and use it to test functionality

* Add SWIG interface definition (and external numpy interface) to ecl classes * Add section in CMakeLists.txt to build Python bindings and execute Python-based tests * Write (property-based) tests that show the basic functionality of the Python bindings and the EKF (using pytest and hypothesis libraries) * Write minimal benchmark for the EKF update (using benchmark plugin for pytest) * Add plotting utilities to analyze tests * Add lint script to keep the Python scripts clean
2026-10-20 17:03:33 +08:00 · 2017-08-14 12:02:03 +02:00
parent 5988900044
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+###############################################################################
+#
+# Copyright (c) 2017 Estimation and Control Library (ECL). 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.
+#
+###############################################################################
+
+"""Utils for the Python-based tests for the ecl library
+
+@author: Peter Dürr <Peter.Duerr@sony.com>
+"""
+from __future__ import print_function
+from __future__ import unicode_literals
+from __future__ import division
+from __future__ import absolute_import
+
+import numpy as np
+import pytest
+
+try:
+    import ecl  # pylint: disable=import-error
+except ImportError:
+    print("ImportError: ecl library cannot be found."
+          " Make sure to compile ecl with Python bindings "
+          "(add -DPythonTests=1 to cmake invocation), "
+          "and set the PYTHONPATH to your build directory.")
+    exit(1)
+
+
+def float_array(inp):
+    """Convert input to an array of 32 bit floats
+    """
+    return np.array(inp, dtype=np.float32)
+
+
+def update_sensors(ekf,  # pylint: disable=too-many-arguments
+                   time_usec,
+                   dt_usec,
+                   accel=float_array([0.0, 0.0, -ecl.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):
+    """Updates the sensors with inputs
+    """
+    ekf.set_imu_data(time_usec,
+                     dt_usec,
+                     dt_usec,
+                     ang_vel * dt_usec / 1e6,
+                     accel * dt_usec / 1e6)
+    ekf.set_mag_data(time_usec,
+                     mag_data)
+    ekf.set_baro_data(time_usec,
+                      baro_data)
+
+
+@pytest.fixture
+def initialized_ekf():
+    """Provides an initialized ekf, ready to go
+    """
+    ekf = ecl.Ekf()
+
+    time_usec = 1000
+    dt_usec = 5000
+
+    # Provide a few samples
+    for _ in range(1000):
+        update_sensors(ekf, time_usec, dt_usec)
+        ekf.update()
+        time_usec += dt_usec
+
+    # Make sure the ekf updates as expected
+    return ekf, time_usec