ACU sun: add tests, cleanup

socs/agents/acu/avoidance.py

@@ -635,36 +635,3 @@ def get_traj(self, res=0.5):
             xx.append(np.linspace(x0, x1, n))
             yy.append(np.linspace(y0, y1, n))
         return np.hstack(tuple(xx)), np.hstack(tuple(yy))
-
-
-class RollingMinimum:
-    def __init__(self, window, fallback=None):
-        self.window = window
-        self.subwindow = window / 10
-        self.fallback = fallback
-        self.records = []
-
-    def append(self, val, t=None):
-        if t is None:
-            t = time.time()
-        # Remove old data
-        while len(self.records) and (t - self.records[0][0]) > self.window:
-            self.records.pop(0)
-        # Add this to existing subwindow?
-        if len(self.records):
-            # Consider values up to subwindow ago.
-            _t, _val = self.records[-1]
-            if t - _t < self.subwindow:
-                if val <= _val:
-                    self.records[-1] = (t, val)
-                return
-        # Or start a new subwindow.
-        self.records.append((t, val))
-
-    def get(self, lookback=None):
-        if lookback is None:
-            lookback = self.window
-        recs = [v for t, v in self.records if (time.time() - t < lookback)]
-        if len(recs):
-            return min(recs)
-        return self.fallback

tests/agents/test_acu_agent.py

@@ -1 +1,37 @@
+from socs.agents.acu import avoidance as av
 from socs.agents.acu.agent import ACUAgent  # noqa: F401
+
+
+def test_avoidance():
+    az0, el0 = 72, 67
+    t0 = 1698850000
+
+    sun = av.SunTracker(fake_now=t0)
+    pos = sun.get_sun_pos()
+    az, el = pos['sun_azel']
+    assert abs(az - az0) < .5 and abs(el - el0) < .5
+
+    # Zenith should be about 23 deg away.
+    assert abs(sun.get_sun_pos(0, 90)['sun_dist'] - 23) < 0.5
+
+    # Unsafe positions.
+    assert sun.check_trajectory([90], [60])['sun_time'] == 0
+
+    # Safe positions
+    assert sun.check_trajectory([90], [20])['sun_time'] > 0
+    assert sun.check_trajectory([270], [60])['sun_time'] > 0
+
+    # No safe moves to Sun position.
+    paths = sun.analyze_paths(180, 20, az0, el0)
+    path, analysis = sun.select_move(paths)
+    assert path is None
+
+    # Escape paths.
+    path = sun.find_escape_paths(az0, el0 - 5)
+    assert path is not None
+    path = sun.find_escape_paths(az0, el0 + 5)
+    assert path is not None
+    path = sun.find_escape_paths(az0 - 10, el0)
+    assert path is not None
+    path = sun.find_escape_paths(az0 + 10, el0)
+    assert path is not None