mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:46:36 +00:00
Yuzviak
64 lines
1.4 KiB
Python
64 lines
1.4 KiB
Python
"""Tests for DatasetAdapter base contract."""
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import pytest
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from gps_denied.testing.datasets.base import (
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DatasetAdapter,
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DatasetCapabilities,
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DatasetFrame,
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DatasetIMU,
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DatasetPose,
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DatasetNotAvailableError,
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PlatformClass,
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)
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def test_capabilities_defaults():
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cap = DatasetCapabilities(
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has_raw_imu=False,
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has_rtk_gt=False,
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has_loop_closures=False,
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platform_class=PlatformClass.FIXED_WING,
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)
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assert cap.has_raw_imu is False
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assert cap.platform_class == PlatformClass.FIXED_WING
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def test_adapter_is_abstract():
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with pytest.raises(TypeError):
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DatasetAdapter() # type: ignore[abstract]
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def test_dataset_not_available_error_is_exception():
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assert issubclass(DatasetNotAvailableError, Exception)
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def test_dataset_frame_dataclass_fields():
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frame = DatasetFrame(
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frame_idx=0,
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timestamp_ns=1_000_000_000,
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image_path="/tmp/x.jpg",
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)
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assert frame.frame_idx == 0
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assert frame.timestamp_ns == 1_000_000_000
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def test_dataset_imu_dataclass_fields():
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imu = DatasetIMU(
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timestamp_ns=1_000_000_000,
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accel=(0.0, 0.0, -9.81),
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gyro=(0.0, 0.0, 0.0),
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)
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assert imu.accel == (0.0, 0.0, -9.81)
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def test_dataset_pose_dataclass_fields():
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pose = DatasetPose(
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timestamp_ns=1_000_000_000,
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lat=49.0,
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lon=32.0,
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alt=100.0,
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qx=0.0, qy=0.0, qz=0.0, qw=1.0,
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)
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assert pose.lat == 49.0
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