jyoung/selfdrive/locationd/test/test_laikad.py

#!/usr/bin/env python3
import time
import unittest
from collections import defaultdict
from datetime import datetime
from unittest import mock
from unittest.mock import patch

from common.params import Params
from laika.constants import SECS_IN_DAY
from laika.downloader import DownloadFailed
from laika.ephemeris import EphemerisType, GPSEphemeris
from laika.gps_time import GPSTime
from laika.helpers import ConstellationId, TimeRangeHolder
from laika.raw_gnss import GNSSMeasurement, read_raw_ublox
from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader


def get_log(segs=range(0)):
  logs = []
  for i in segs:
    logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i)))

  all_logs = [m for m in logs if m.which() == 'ubloxGnss']
  low_gnss = []
  for m in all_logs:
    if m.ubloxGnss.which() != 'measurementReport':
      continue

    MAX_MEAS = 7
    if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS:
      mb = m.as_builder()
      mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS
      mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS]
      mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000
      low_gnss.append(mb.as_reader())
    else:
      low_gnss.append(m)

  return all_logs, low_gnss


def verify_messages(lr, laikad, return_one_success=False):
  good_msgs = []
  for m in lr:
    msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
    if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
      good_msgs.append(msg)
      if return_one_success:
        return msg
  return good_msgs


def get_first_gps_time(logs):
  for m in logs:
    if m.ubloxGnss.which == 'measurementReport':
      new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
      if len(new_meas) > 0:
        return new_meas[0].recv_time


def get_measurement_mock(gpstime, sat_ephemeris):
  meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
  # Fake measurement being processed
  meas.observables_final = meas.observables
  meas.sat_ephemeris = sat_ephemeris
  return meas


GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))


class TestLaikad(unittest.TestCase):

  @classmethod
  def setUpClass(cls):
    logs, low_gnss = get_log(range(1))
    cls.logs = logs
    cls.low_gnss = low_gnss
    first_gps_time = get_first_gps_time(logs)
    cls.first_gps_time = first_gps_time

  def setUp(self):
    Params().remove(EPHEMERIS_CACHE)

  def test_fetch_navs_non_blocking(self):
    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
    laikad = Laikad()
    laikad.fetch_navs(gpstime, block=False)
    laikad.orbit_fetch_future.result(30)
    # Get results and save orbits to laikad:
    laikad.fetch_navs(gpstime, block=False)

    ephem = laikad.astro_dog.navs['G01'][0]
    self.assertIsNotNone(ephem)

    laikad.fetch_navs(gpstime+2*SECS_IN_DAY, block=False)
    laikad.orbit_fetch_future.result(30)
    # Get results and save orbits to laikad:
    laikad.fetch_navs(gpstime + 2 * SECS_IN_DAY, block=False)

    ephem2 = laikad.astro_dog.navs['G01'][0]
    self.assertIsNotNone(ephem)
    self.assertNotEqual(ephem, ephem2)

  def test_fetch_navs_with_wrong_clocks(self):
    laikad = Laikad()

    def check_has_navs():
      self.assertGreater(len(laikad.astro_dog.navs), 0)
      ephem = laikad.astro_dog.navs['G01'][0]
      self.assertIsNotNone(ephem)
    real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
    wrong_future_clock_time = real_current_time + SECS_IN_DAY

    laikad.fetch_navs(wrong_future_clock_time, block=True)
    check_has_navs()
    self.assertEqual(laikad.last_fetch_navs_t, wrong_future_clock_time)

    # Test fetching orbits with earlier time
    assert real_current_time < laikad.last_fetch_navs_t

    laikad.astro_dog.orbits = {}
    laikad.fetch_navs(real_current_time, block=True)
    check_has_navs()
    self.assertEqual(laikad.last_fetch_navs_t, real_current_time)

  def test_ephemeris_source_in_msg(self):
    data_mock = defaultdict(str)
    data_mock['sv_id'] = 1

    gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC
    laikad = Laikad()
    laikad.fetch_navs(gpstime, block=True)
    meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0])
    msg = create_measurement_msg(meas)
    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
    # Verify gps satellite returns same source
    meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0])
    msg = create_measurement_msg(meas)
    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)

    # Test nasa source by using older date
    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
    laikad = Laikad()
    laikad.fetch_navs(gpstime, block=True)
    meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['G01'][0])
    msg = create_measurement_msg(meas)
    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)

    # Test nav source type
    ephem = GPSEphemeris(data_mock, gpstime)
    meas = get_measurement_mock(gpstime, ephem)
    msg = create_measurement_msg(meas)
    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)

  def test_laika_online(self):
    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
    correct_msgs = verify_messages(self.logs, laikad)

    correct_msgs_expected = 554
    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_kf_becomes_valid(self):
    laikad = Laikad(auto_update=False)
    m = self.logs[0]
    self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
    kf_valid = False
    for m in self.logs:
      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
      kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
      if kf_valid:
        break
    self.assertTrue(kf_valid)

  def test_laika_online_nav_only(self):
    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
    # Disable fetch_orbits to test NAV only
    correct_msgs = verify_messages(self.logs, laikad)
    correct_msgs_expected = 554
    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]))

  @mock.patch('laika.downloader.download_and_cache_file')
  def test_laika_offline(self, downloader_mock):
    downloader_mock.side_effect = DownloadFailed("Mock download failed")
    laikad = Laikad(auto_update=False)
    laikad.fetch_navs(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)

  @mock.patch('laika.downloader.download_and_cache_file')
  def test_download_failed_russian_source(self, downloader_mock):
    downloader_mock.side_effect = DownloadFailed
    laikad = Laikad(auto_update=False)
    correct_msgs = verify_messages(self.logs, laikad)
    self.assertEqual(0, len(correct_msgs))
    self.assertEqual(0, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))

  def test_laika_get_orbits(self):
    laikad = Laikad(auto_update=False)
    # Pretend process has loaded the orbits on startup by using the time of the first gps message.
    laikad.fetch_navs(self.first_gps_time, block=True)
    self.dict_has_values(laikad.astro_dog.navs)

  @unittest.skip("Use to debug live data")
  def test_laika_get_navs_now(self):
    laikad = Laikad(auto_update=False)
    laikad.fetch_navs(GPSTime.from_datetime(datetime.utcnow()), block=True)
    prn = "G01"
    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
    prn = "R01"
    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
    print(min(laikad.astro_dog.navs[prn], key=lambda e: e.epoch).epoch.as_datetime())

  def test_get_navs_in_process(self):
    laikad = Laikad(auto_update=False)
    has_navs = False
    for m in self.logs:
      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False)
      if laikad.orbit_fetch_future is not None:
        laikad.orbit_fetch_future.result()
      vals = laikad.astro_dog.navs.values()
      has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
      if has_navs:
        break
    self.assertTrue(has_navs)
    self.assertGreater(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
    self.assertEqual(None, laikad.orbit_fetch_future)

  def test_cache(self):
    laikad = Laikad(auto_update=True, save_ephemeris=True)

    def wait_for_cache():
      max_time = 2
      while Params().get(EPHEMERIS_CACHE) is None:
        time.sleep(0.1)
        max_time -= 0.1
        if max_time < 0:
          self.fail("Cache has not been written after 2 seconds")

    # Test cache with no ephemeris
    laikad.cache_ephemeris(t=GPSTime(0, 0))
    wait_for_cache()
    Params().remove(EPHEMERIS_CACHE)

    #laikad.astro_dog.get_navs(self.first_gps_time)
    laikad.fetch_navs(self.first_gps_time, block=True)

    # Wait for cache to save
    wait_for_cache()

    # Check both nav and orbits separate
    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True)
    # Verify navs are loaded from cache
    self.dict_has_values(laikad.astro_dog.navs)
    # Verify cache is working for only nav by running a segment
    msg = verify_messages(self.logs, laikad, return_one_success=True)
    self.assertIsNotNone(msg)

    with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
      # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
      laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
      laikad.fetch_navs(self.first_gps_time, block=False)
      mock_method.assert_not_called()

      # Verify cache is working for only orbits by running a segment
      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
      msg = verify_messages(self.logs, laikad, return_one_success=True)
      self.assertIsNotNone(msg)
      # Verify orbit data is not downloaded
      mock_method.assert_not_called()

  def test_low_gnss_meas(self):
    cnt = 0
    laikad = Laikad()
    for m in self.low_gnss:
      msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
      if msg is None:
        continue
      gm = msg.gnssMeasurements
      if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
        cnt += 1
    self.assertEqual(cnt, 554)

  def dict_has_values(self, dct):
    self.assertGreater(len(dct), 0)
    self.assertGreater(min([len(v) for v in dct.values()]), 0)


if __name__ == "__main__":
  unittest.main()