You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
104 lines
3.5 KiB
104 lines
3.5 KiB
#!/usr/bin/env python3
|
|
import json
|
|
import random
|
|
import unittest
|
|
import time
|
|
import capnp
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal.services import service_list
|
|
from common.params import Params
|
|
from common.transformations.coordinates import ecef2geodetic
|
|
|
|
from selfdrive.manager.process_config import managed_processes
|
|
|
|
|
|
class TestLocationdProc(unittest.TestCase):
|
|
MAX_WAITS = 1000
|
|
LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
|
|
'accelerometer', 'gyroscope', 'magnetometer']
|
|
|
|
def setUp(self):
|
|
random.seed(123489234)
|
|
|
|
self.pm = messaging.PubMaster(self.LLD_MSGS)
|
|
|
|
Params().put_bool("UbloxAvailable", True)
|
|
managed_processes['locationd'].prepare()
|
|
managed_processes['locationd'].start()
|
|
|
|
time.sleep(1)
|
|
|
|
def tearDown(self):
|
|
managed_processes['locationd'].stop()
|
|
|
|
def send_msg(self, msg):
|
|
self.pm.send(msg.which(), msg)
|
|
waits_left = self.MAX_WAITS
|
|
while waits_left and not self.pm.all_readers_updated(msg.which()):
|
|
time.sleep(0)
|
|
waits_left -= 1
|
|
time.sleep(0.0001)
|
|
|
|
def get_fake_msg(self, name, t):
|
|
try:
|
|
msg = messaging.new_message(name)
|
|
except capnp.lib.capnp.KjException:
|
|
msg = messaging.new_message(name, 0)
|
|
|
|
|
|
if name == "gpsLocationExternal":
|
|
msg.gpsLocationExternal.flags = 1
|
|
msg.gpsLocationExternal.verticalAccuracy = 1.0
|
|
msg.gpsLocationExternal.speedAccuracy = 1.0
|
|
msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
|
|
msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
|
|
msg.gpsLocationExternal.latitude = float(self.lat)
|
|
msg.gpsLocationExternal.longitude = float(self.lon)
|
|
msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
|
|
msg.gpsLocationExternal.altitude = float(self.alt)
|
|
#if name == "gnssMeasurements":
|
|
# msg.gnssMeasurements.measTime = t
|
|
# msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
|
|
# msg.gnssMeasurements.positionECEF.std = [0,0,0]
|
|
# msg.gnssMeasurements.positionECEF.valid = True
|
|
# msg.gnssMeasurements.velocityECEF.value = []
|
|
# msg.gnssMeasurements.velocityECEF.std = [0,0,0]
|
|
# msg.gnssMeasurements.velocityECEF.valid = True
|
|
elif name == 'cameraOdometry':
|
|
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
|
|
msg.logMonoTime = t
|
|
return msg
|
|
|
|
def test_params_gps(self):
|
|
# first reset params
|
|
Params().remove('LastGPSPosition')
|
|
|
|
self.x = -2710700 + (random.random() * 1e5)
|
|
self.y = -4280600 + (random.random() * 1e5)
|
|
self.z = 3850300 + (random.random() * 1e5)
|
|
self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
|
|
|
|
self.fake_duration = 90 # secs
|
|
# get fake messages at the correct frequency, listed in services.py
|
|
fake_msgs = []
|
|
for sec in range(self.fake_duration):
|
|
for name in self.LLD_MSGS:
|
|
for j in range(int(service_list[name].frequency)):
|
|
fake_msgs.append(self.get_fake_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
|
|
|
|
for fake_msg in sorted(fake_msgs, key=lambda x: x.logMonoTime):
|
|
self.send_msg(fake_msg)
|
|
time.sleep(1) # wait for async params write
|
|
|
|
lastGPS = json.loads(Params().get('LastGPSPosition'))
|
|
self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3)
|
|
self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3)
|
|
self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|