sl-perception
dc6eea4016
Implements sensor fusion for environmental monitoring and adaptive outdoor behavior: - BME280 environmental sensor (temperature, humidity, pressure) - Phone weather API fallback (wind speed, conditions) - Camera-based rain detection (image gradient analysis) - WeatherState.msg with condition bitmask and recommendations - Behavior triggers: rain→seek shelter, wind→reduce speed, extreme temp→warning - Facial expressions: squint (rain), shiver (cold), relax (comfortable) - Real-time publishing: /saltybot/weather (WeatherState), /saltybot/weather_alert (String) - Adaptive thresholds: temp_min_safe, temp_max_safe, wind_threshold Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
79 lines
2.5 KiB
Python
79 lines
2.5 KiB
Python
"""
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Basic tests for weather awareness system.
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"""
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import pytest
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import numpy as np
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from saltybot_weather.weather_node import RainDetector
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class TestRainDetector:
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"""Tests for rain detection algorithm."""
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def test_rain_detector_init(self):
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"""Test rain detector initialization."""
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detector = RainDetector()
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assert len(detector.history) == 0
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def test_rain_detector_clear_frame(self):
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"""Test rain detection on clear (low-noise) frame."""
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detector = RainDetector()
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# Create a smooth, clear frame (low gradient)
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frame = np.ones((480, 640, 3), dtype=np.uint8) * 128
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prob = detector.detect(frame)
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# Clear frame should have low rain probability
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assert 0.0 <= prob <= 1.0
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assert prob < 0.3
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def test_rain_detector_noisy_frame(self):
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"""Test rain detection on noisy (rain-like) frame."""
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detector = RainDetector()
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# Create a noisy frame (high gradient, rain-like)
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np.random.seed(42)
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frame = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
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prob = detector.detect(frame)
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assert 0.0 <= prob <= 1.0
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def test_rain_detector_empty_frame(self):
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"""Test rain detection with empty/None frame."""
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detector = RainDetector()
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prob = detector.detect(None)
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assert prob == 0.0
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def test_rain_detector_smoothing(self):
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"""Test rain detection history smoothing."""
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detector = RainDetector()
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# Simulate alternating clear and noisy frames
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clear = np.ones((480, 640, 3), dtype=np.uint8) * 128
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noisy = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
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probs = []
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for i in range(10):
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frame = noisy if i % 2 == 0 else clear
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probs.append(detector.detect(frame))
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# History should have 10 elements
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assert len(detector.history) == 10
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# Probabilities should be bounded
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assert all(0.0 <= p <= 1.0 for p in probs)
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class TestWeatherState:
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"""Basic WeatherState message tests."""
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def test_weather_state_creation(self):
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"""Test creating a WeatherState message."""
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try:
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from saltybot_weather_msgs.msg import WeatherState
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ws = WeatherState()
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ws.temperature = 25.0
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ws.humidity = 60.0
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assert ws.temperature == 25.0
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assert ws.humidity == 60.0
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except ImportError:
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pytest.skip("saltybot_weather_msgs not built")
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if __name__ == '__main__':
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pytest.main([__file__])
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