open source driving agent
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#!/usr/bin/env python3
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import time
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import atexit
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from cereal import messaging
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from openpilot.selfdrive.manager.process_config import managed_processes
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TIMEOUT = 10*60
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def kill():
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for proc in ['ubloxd', 'pigeond']:
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managed_processes[proc].stop(retry=True, block=True)
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if __name__ == "__main__":
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# start ubloxd
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managed_processes['ubloxd'].start()
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atexit.register(kill)
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sm = messaging.SubMaster(['ubloxGnss'])
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times = []
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for i in range(20):
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# start pigeond
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st = time.monotonic()
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managed_processes['pigeond'].start()
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# wait for a >4 satellite fix
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while True:
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sm.update(0)
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msg = sm['ubloxGnss']
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if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]:
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report = msg.measurementReport
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if report.numMeas > 4:
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times.append(time.monotonic() - st)
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print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m")
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break
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if time.monotonic() - st > TIMEOUT:
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raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m")
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time.sleep(0.1)
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# stop pigeond
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managed_processes['pigeond'].stop(retry=True, block=True)
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time.sleep(20)
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print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m")
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