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94 lines
3.4 KiB
94 lines
3.4 KiB
#!/usr/bin/env python3
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import json
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import random
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import unittest
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import time
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import capnp
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import cereal.messaging as messaging
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from cereal.services import SERVICE_LIST
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from openpilot.common.params import Params
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from openpilot.common.transformations.coordinates import ecef2geodetic
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from openpilot.selfdrive.manager.process_config import managed_processes
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class TestLocationdProc(unittest.TestCase):
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LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
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'accelerometer', 'gyroscope', 'magnetometer']
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def setUp(self):
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random.seed(123489234)
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self.pm = messaging.PubMaster(self.LLD_MSGS)
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self.params = Params()
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self.params.put_bool("UbloxAvailable", True)
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managed_processes['locationd'].prepare()
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managed_processes['locationd'].start()
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def tearDown(self):
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managed_processes['locationd'].stop()
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def get_msg(self, name, t):
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try:
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msg = messaging.new_message(name)
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except capnp.lib.capnp.KjException:
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msg = messaging.new_message(name, 0)
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if name == "gpsLocationExternal":
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msg.gpsLocationExternal.flags = 1
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msg.gpsLocationExternal.verticalAccuracy = 1.0
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msg.gpsLocationExternal.speedAccuracy = 1.0
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msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
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msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
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msg.gpsLocationExternal.latitude = float(self.lat)
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msg.gpsLocationExternal.longitude = float(self.lon)
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msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
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msg.gpsLocationExternal.altitude = float(self.alt)
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#if name == "gnssMeasurements":
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# msg.gnssMeasurements.measTime = t
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# msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
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# msg.gnssMeasurements.positionECEF.std = [0,0,0]
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# msg.gnssMeasurements.positionECEF.valid = True
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# msg.gnssMeasurements.velocityECEF.value = []
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# msg.gnssMeasurements.velocityECEF.std = [0,0,0]
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# msg.gnssMeasurements.velocityECEF.valid = True
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elif name == 'cameraOdometry':
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msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
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msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
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msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
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msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
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msg.logMonoTime = t
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msg.valid = True
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return msg
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def test_params_gps(self):
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self.params.remove('LastGPSPosition')
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self.x = -2710700 + (random.random() * 1e5)
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self.y = -4280600 + (random.random() * 1e5)
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self.z = 3850300 + (random.random() * 1e5)
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self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
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# get fake messages at the correct frequency, listed in services.py
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msgs = []
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for sec in range(65):
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for name in self.LLD_MSGS:
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for j in range(int(SERVICE_LIST[name].frequency)):
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msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))
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for msg in sorted(msgs, key=lambda x: x.logMonoTime):
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self.pm.send(msg.which(), msg)
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if msg.which() == "cameraOdometry":
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self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
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time.sleep(1) # wait for async params write
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lastGPS = json.loads(self.params.get('LastGPSPosition'))
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self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3)
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self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3)
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self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3)
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if __name__ == "__main__":
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unittest.main()
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