mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-16 13:00:36 +08:00
Peter Dürr
bb5719a0da
* 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
138 lines
5.1 KiB
Python
Executable File
138 lines
5.1 KiB
Python
Executable File
#!/usr/bin/env python3
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###############################################################################
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#
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# Copyright (c) 2017 Estimation and Control Library (ECL). All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name ECL nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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###############################################################################
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"""Tests for the ecl library (using it's Python bindings via SWIG)
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In order to run the tests, make sure to compile the ecl library including the
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SWIG bindings, e.g. by running
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cmake -DPythonTests=1 ../EKF && make pytest-quick
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from your build directory.
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This script can also be run directly (e.g., by using `make pytest`), or you can
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run pytest on the test folder.
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Running the script directly provides some useful flags, in particular one can
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enable plots (using `-p`) to visualize the test results. For example, the
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following command will run all test that include the string "baro" in the test
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name and plot the results:
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PYTHONPATH='/path/to/ecl' ekf_test -p "baro"
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@author: Peter Dürr <Peter.Duerr@sony.com>
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"""
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from __future__ import print_function
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from __future__ import unicode_literals
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from __future__ import division
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from __future__ import absolute_import
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import os
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from datetime import datetime
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import argparse
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import pytest
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from hypothesis import settings
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START_TIME = datetime.now()
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"""Record when the script was loaded
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"""
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# Register hypothesis profiles
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settings.register_profile("plots", settings(max_examples=0))
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settings.register_profile("quick", settings(max_examples=20))
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def main():
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"""Called when the script is run standalone
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"""
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parser = argparse.ArgumentParser(description="Tests ecl's EKF",
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usage=(__file__ +
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" [OPTIONS] [EXPRESSION]"))
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parser.add_argument('-q', '--quick',
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action='store_true',
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help='Run only the quick tests')
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parser.add_argument('-v', '--verbose',
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action='store_true',
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help='Print verbose output')
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parser.add_argument('-s', '--stdout',
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action='store_true',
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help='Print output to stdout during tests')
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parser.add_argument('-b', '--benchmark',
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action='store_true',
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help='Run the benchmark tests')
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parser.add_argument('-p', '--plots',
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action='store_true',
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help='Create plots during the tests '
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'(requires matplotlib and seaborn)')
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parser.add_argument('tests', type=str, nargs='?',
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help='Run only tests which match '
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'the given substring expression')
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args = parser.parse_args()
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pytest_arguments = [os.path.dirname(os.path.realpath(__file__))]
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pytest_plugins = []
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if args.quick:
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pytest_arguments.append('--hypothesis-profile=plots')
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if args.verbose:
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pytest_arguments.append('-v')
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pytest_arguments.append('-l')
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pytest_arguments.append('--hypothesis-show-statistics')
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if args.stdout:
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pytest_arguments.append('-s')
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if args.benchmark:
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pytest_arguments.append('-m benchmark')
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pytest_arguments.append('--benchmark-verbose')
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else:
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pytest_arguments.append('--benchmark-disable')
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if args.tests:
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pytest_arguments.append('-k ' + args.tests)
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# To control plotting, monkeypatch a flag onto pytest (cannot just use a
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# global variable due to pytest's discovery)
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pytest.ENABLE_PLOTTING = args.plots
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if args.plots:
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pytest_arguments.append('--hypothesis-profile=plots')
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# Run pytest
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result = pytest.main(pytest_arguments, plugins=pytest_plugins)
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exit(result)
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if __name__ == '__main__':
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main()
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