LaikaD: Fix offline handling (#24781)

* Test handling no internet correctly.

* Clean

* Comment

* remove del

selfdrive/locationd/laikad.py

@@ -30,12 +30,12 @@ class Laikad:
     self.orbit_p: Optional[Process] = None
     self.orbit_q = Queue()
 
-  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int):
+  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
     if ublox_msg.which == 'measurementReport':
       report = ublox_msg.measurementReport
       if report.gpsWeek > 0:
         latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
-        self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block=False)
+        self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
       new_meas = read_raw_ublox(report)
 
       measurements = process_measurements(new_meas, self.astro_dog)
@@ -110,25 +110,29 @@ class Laikad:
   def get_orbit_data(self, t: GPSTime, queue):
     cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
     start_time = time.monotonic()
-    self.astro_dog.get_orbit_data(t, only_predictions=True)
+    try:
+      self.astro_dog.get_orbit_data(t, only_predictions=True)
+    except RuntimeError as e:
+      cloudlog.info(f"No orbit data found. {e}")
+      return
     cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.2f}s")
-    queue.put((self.astro_dog.orbits, self.astro_dog.orbit_fetched_times))
+    if queue is not None:
+      queue.put((self.astro_dog.orbits, self.astro_dog.orbit_fetched_times))
 
   def fetch_orbits(self, t: GPSTime, block):
     if t not in self.astro_dog.orbit_fetched_times:
+      if block:
+        self.get_orbit_data(t, None)
+        return
       if self.orbit_p is None:
         self.orbit_p = Process(target=self.get_orbit_data, args=(t, self.orbit_q))
         self.orbit_p.start()
-      ret = None
+      if not self.orbit_q.empty():
-      if block:
-        ret = self.orbit_q.get(block=True)
-      elif not self.orbit_q.empty():
         ret = self.orbit_q.get()
-
+        if ret:
-      if ret:
+          self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
-        self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
+          self.orbit_p.join()
-        self.orbit_p.join()
+          self.orbit_p = None
-        self.orbit_p = None
 
   def __del__(self):
     if self.orbit_p is not None:

selfdrive/locationd/test/test_laikad.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import unittest
 from datetime import datetime
+from unittest import mock
+from unittest.mock import Mock
 
 from laika.ephemeris import EphemerisType
 from laika.gps_time import GPSTime
@@ -21,7 +23,7 @@ def get_log(segs=range(0)):
 def verify_messages(lr, laikad):
   good_msgs = []
   for m in lr:
-    msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime)
+    msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True)
     if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
   return good_msgs
@@ -52,28 +54,21 @@ class TestLaikad(unittest.TestCase):
 
   def test_laika_online_nav_only(self):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
+    # Disable fetch_orbits to test NAV only
+    laikad.fetch_orbits = Mock()
     correct_msgs = verify_messages(self.logs, laikad)
     correct_msgs_expected = 560
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
-  def test_laika_offline(self):
+  @mock.patch('laika.downloader.download_and_cache_file')
-    # Set auto_update to false forces to use ephemeris messages
+  def test_laika_offline(self, downloader_mock):
+    downloader_mock.side_effect = IOError
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-
     self.assertEqual(256, len(correct_msgs))
     self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
-  def test_laika_offline_ephem_at_start(self):
-    # Test offline but process ephemeris msgs of segment first
-    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV)
-    ephemeris_logs = [m for m in self.logs if m.ubloxGnss.which() == 'ephemeris']
-    correct_msgs = verify_messages(ephemeris_logs+self.logs, laikad)
-
-    self.assertEqual(554, len(correct_msgs))
-    self.assertGreaterEqual(554, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
-
   def test_laika_get_orbits(self):
     laikad = Laikad(auto_update=False)
     first_gps_time = None
@@ -97,5 +92,6 @@ class TestLaikad(unittest.TestCase):
     self.assertLess(0, len(laikad.astro_dog.orbits[prn]))
     print(min(laikad.astro_dog.orbits[prn], key=lambda e: e.epoch).epoch.as_datetime())
 
+
 if __name__ == "__main__":
   unittest.main()