mirror of
https://github.com/aurora-opensource/xviz.git
synced 2026-01-25 14:16:45 +00:00
3cd43ae3af
* Fix Protobuf writer to add PBE1 prefix to file * Update protobuf & fix directory writer * Fix FutureInstance builder and add tests
388 lines
13 KiB
Python
388 lines
13 KiB
Python
import json
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from easydict import EasyDict as edict
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from xviz_avs.builder import XVIZBuilder, XVIZUIPrimitiveBuilder, XVIZTimeSeriesBuilder
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from google.protobuf.json_format import MessageToDict
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import unittest
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PRIMARY_POSE_STREAM = '/vehicle_pose'
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DEFAULT_POSE = edict(
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timestamp=1.0,
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map_origin=edict(longitude=1.1, latitude=2.2, altitude=3.3),
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position=[11., 22., 33.],
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orientation=[0.11, 0.22, 0.33]
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)
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def setup_pose(builder):
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builder.pose(PRIMARY_POSE_STREAM)\
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.timestamp(DEFAULT_POSE.timestamp)\
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.map_origin(**DEFAULT_POSE.map_origin)\
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.position(*DEFAULT_POSE.position)\
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.orientation(*DEFAULT_POSE.orientation)
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class TestPoseBuilder(unittest.TestCase):
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def setUp(self):
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self.builder = XVIZBuilder()
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setup_pose(self.builder)
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def test_single_pose(self):
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expected = {
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'timestamp': 1.0,
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'poses': {
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PRIMARY_POSE_STREAM: DEFAULT_POSE
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}
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}
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data = self.builder.get_data().to_object()
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assert json.dumps(data, sort_keys=True) == json.dumps(expected, sort_keys=True)
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def test_multiple_poses(self):
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self.builder.pose('/vehicle-pose-2')\
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.timestamp(2.0)\
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.map_origin(4.4, 5.5, 6.6)\
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.position(44., 55., 66.)\
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.orientation(0.44, 0.55, 0.66)
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expected = {
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'timestamp': 1.0,
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'poses': {
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PRIMARY_POSE_STREAM: DEFAULT_POSE,
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"/vehicle-pose-2": {
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'timestamp': 2.0,
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'map_origin': {'longitude': 4.4, 'latitude': 5.5, 'altitude': 6.6},
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'position': [44., 55., 66.],
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'orientation': [0.44, 0.55, 0.66]
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}
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}
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}
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data = self.builder.get_data().to_object()
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assert json.dumps(data, sort_keys=True) == json.dumps(expected, sort_keys=True)
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class TestPrimitiveBuilder(unittest.TestCase):
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def setUp(self):
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self.builder = XVIZBuilder()
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setup_pose(self.builder)
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def test_polygon(self):
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verts = [0., 0., 0., 4., 0., 0., 4., 3., 0.]
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self.builder.primitive('/test/polygon')\
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.polygon(verts)\
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.id('1')\
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.style({
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'fill_color': [255, 0, 0]
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})
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expected = {
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'timestamp': 1.0,
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'poses': {
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PRIMARY_POSE_STREAM: DEFAULT_POSE
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},
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'primitives': {
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'/test/polygon': {
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'polygons': [
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{
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'base': {
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'style': {
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'fill_color': [255, 0, 0],
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},
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'object_id': '1'
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},
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'vertices': verts
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}
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]
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}
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}
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}
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data = self.builder.get_data().to_object()
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assert json.dumps(data, sort_keys=True) == json.dumps(expected, sort_keys=True)
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class TestUIPrimitiveBuilder(unittest.TestCase):
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def setUp(self):
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self.builder = XVIZBuilder()
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setup_pose(self.builder)
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def test_null(self):
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builder = XVIZUIPrimitiveBuilder(None, None)
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data = builder.stream('/test').get_data()
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assert data is None
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def test_treetable(self):
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TEST_COLUMNS = [{'display_text': 'Name', 'type': 'STRING'}] # FIXME: type is in lower case in XVIZ
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self.builder.ui_primitives('/test').treetable(TEST_COLUMNS)
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data = self.builder.get_data().to_object()
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expected = {
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'/test': {
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'treetable': {
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'columns': TEST_COLUMNS,
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# 'nodes': [] # FIXME: nodes are no serialized
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}
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}
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}
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assert json.dumps(data['ui_primitives'], sort_keys=True) == json.dumps(expected, sort_keys=True)
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class TestTimeSeriesBuilder(unittest.TestCase):
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def setUp(self):
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self.builder = XVIZBuilder()
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setup_pose(self.builder)
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def test_null(self):
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builder = XVIZTimeSeriesBuilder(None, None)
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data = builder.stream('/test').get_data()
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assert data is None
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def test_single_entry(self):
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self.builder = XVIZBuilder()
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setup_pose(self.builder)
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self.builder.time_series('/test')\
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.timestamp(20.)\
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.value(1.)
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expected = [{
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'timestamp': 20.,
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'streams': ['/test'],
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'values': {'doubles': [1.]}
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}]
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data = self.builder.get_data().to_object()
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assert json.dumps(data['time_series'], sort_keys=True) == json.dumps(expected, sort_keys=True)
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def test_multiple_entries(self):
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self.builder.time_series('/test')\
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.timestamp(20.)\
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.value(1.)
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self.builder.time_series('/foo')\
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.timestamp(20.)\
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.value(2.)
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expected = [{
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'timestamp': 20.,
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'streams': ['/test', '/foo'],
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'values': {'doubles': [1., 2.]}
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}]
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data = self.builder.get_data().to_object()
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assert json.dumps(data['time_series'], sort_keys=True) == json.dumps(expected, sort_keys=True)
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class TestFutureInstanceBuilder(unittest.TestCase):
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def setUp(self):
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self.builder = XVIZBuilder()
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setup_pose(self.builder)
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def test_primitives(self):
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verts = [1., 0., 0., 1., 1., 0., 1., 1., 1.]
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self.builder.future_instance('/test/future_circle', 1.0)\
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.circle([1., 0., 0.], 2)
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self.builder.future_instance('/test/future_text', 1.0)\
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.text('testing')\
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.position([1., 1., 0.])
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self.builder.future_instance('/test/future_stadium', 1.0)\
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.stadium([1., 0., 0.], [1., 1., 0.], 2)
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self.builder.future_instance('/test/future_points', 1.0)\
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.points([1., 1., 1.])
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self.builder.future_instance('/test/future_polyline', 1.0)\
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.polyline([1., 1., 1.])
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self.builder.future_instance('/test/future_polygon', 1.0)\
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.polygon(verts)\
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.id('1')
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expected = {
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'timestamp': 1.0,
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'poses': {
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PRIMARY_POSE_STREAM: DEFAULT_POSE
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},
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'future_instances': {
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'/test/future_circle': {
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'timestamps': [1.0],
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'primitives': [
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{
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'circles': [
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{
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'center': [1., 0., 0.],
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'radius': 2.0
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}
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]
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}
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]
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},
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'/test/future_text': {
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'timestamps': [1.0],
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'primitives': [
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{
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'texts': [
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{
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'text': 'testing',
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'position': [1., 1., 0.]
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}
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]
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}
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]
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},
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'/test/future_stadium': {
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'timestamps': [1.0],
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'primitives': [
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{
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'stadiums': [
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{
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'start': [1., 0., 0.],
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'end': [1., 1., 0.],
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'radius': 2.0
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}
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]
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}
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]
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},
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'/test/future_points': {
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'timestamps': [1.0],
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'primitives': [
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{
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'points': [
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{
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'points': [1., 1., 1.]
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}
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]
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}
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]
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},
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'/test/future_polyline': {
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'timestamps': [1.0],
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'primitives': [
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{
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'polylines': [
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{
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'vertices': [1., 1., 1.]
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}
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]
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}
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]
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},
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'/test/future_polygon': {
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'timestamps': [1.0],
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'primitives': [
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{
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'polygons': [
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{
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'base': {
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'object_id': '1'
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},
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'vertices': verts
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}
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]
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}
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]
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}
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}
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}
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data = self.builder.get_data().to_object()
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assert data == expected
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def test_multiple_inserts(self):
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verts = [1., 0., 0., 1., 1., 0., 1., 1., 1.]
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# TODO test style({'fill_color': [255, 0, 0]})
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self.builder.future_instance('/test/future_polygon', 1.0)\
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.polygon(verts)\
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.id('1')
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self.builder.future_instance('/test/future_polygon', 1.1)\
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.polygon(verts)\
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.id('1')
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self.builder.future_instance('/test/future_polygon', 1.0)\
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.polygon(verts)\
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.id('2')
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expected = {
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'timestamp': 1.0,
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'poses': {
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PRIMARY_POSE_STREAM: DEFAULT_POSE
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},
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'future_instances': {
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'/test/future_polygon': {
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'timestamps': [1.0, 1.1],
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'primitives': [
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{
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'polygons': [
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{
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'base': {
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'object_id': '1'
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},
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'vertices': verts
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},
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{
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'base': {
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'object_id': '2'
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},
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'vertices': verts
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}
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]
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},
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{
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'polygons': [
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{
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'base': {
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'object_id': '1'
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},
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'vertices': verts
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}
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]
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}
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]
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}
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}
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}
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data = self.builder.get_data().to_object()
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assert data == expected
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def test_multiple_inserts_reverse_order(self):
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verts = [1., 0., 0., 1., 1., 0., 1., 1., 1.]
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self.builder.future_instance('/test/future_polygon', 1.1)\
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.polygon(verts)\
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.id('1')
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self.builder.future_instance('/test/future_polygon', 1.0)\
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.polygon(verts)\
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.id('1')
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expected = {
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'timestamp': 1.0,
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'poses': {
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PRIMARY_POSE_STREAM: DEFAULT_POSE
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},
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'future_instances': {
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'/test/future_polygon': {
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'timestamps': [1.0, 1.1],
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'primitives': [
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{
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'polygons': [
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{
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'base': {
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'object_id': '1'
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},
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'vertices': verts
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}
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]
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},
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{
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'polygons': [
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{
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'base': {
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'object_id': '1'
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},
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'vertices': verts
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}
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]
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}
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]
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}
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}
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}
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data = self.builder.get_data().to_object()
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assert data == expected
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