Fix qcom laika caching and test (#27594)

old-commit-hash: 629e5f6bf2

selfdrive/locationd/laikad.py

@@ -94,6 +94,7 @@ class Laikad:
       nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], [])
       ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'],
                                                         'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']})
+
       put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
       cloudlog.debug("Cache saved")
       self.last_cached_t = self.last_report_time
@@ -157,6 +158,8 @@ class Laikad:
       if self.gps_week is None:
         return
       ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
+      self.astro_dog.add_orbits({ephem.prn: [ephem]})
+
     else:
       if gnss_msg.which() == 'ephemeris':
         data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict())
@@ -421,7 +424,6 @@ def main(sm=None, pm=None, qc=None):
 
     if sm.updated[raw_gnss_socket]:
       gnss_msg = sm[raw_gnss_socket]
-
       msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay)
       if msg is None:
         # TODO: beautify this, locationd needs a valid message

selfdrive/locationd/test/test_laikad.py

@@ -15,7 +15,7 @@ from laika.downloader import DownloadFailed
 from laika.ephemeris import EphemerisType, GPSEphemeris, ephemeris_structs
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId, TimeRangeHolder
-from laika.raw_gnss import GNSSMeasurement, read_raw_ublox
+from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom
 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
@@ -70,14 +70,23 @@ def get_log(segs=range(0)):
       low_gnss.append(mb.as_reader())
     else:
       low_gnss.append(m)
-
   return all_logs, low_gnss
 
+def get_log_qcom(segs=range(0)):
+  logs = []
+  for i in segs:
+    logs.extend(LogReader(get_url("b0b3cba7abf862d1|2023-03-11--09-40-33", i)))
+  all_logs = [m for m in logs if m.which() == 'qcomGnss']
+  return all_logs
 
 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 m.which() == 'ubloxGnss':
+      gnss_msg = m.ubloxGnss
+    else:
+      gnss_msg = m.qcomGnss
+    msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True)
     if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
       if return_one_success:
@@ -87,10 +96,16 @@ def verify_messages(lr, laikad, return_one_success=False):
 
 def get_first_gps_time(logs):
   for m in logs:
+    if m.which() == 'ubloxGnss':
       if m.ubloxGnss.which == 'measurementReport':
         new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
         if len(new_meas) > 0:
           return new_meas[0].recv_time
+    else:
+      if m.qcomGnss.which == 'measurementReport':
+        new_meas = read_raw_qcom(m.qcomGnss.measurementReport)
+        if len(new_meas) > 0:
+          return new_meas[0].recv_time
 
 
 def get_measurement_mock(gpstime, sat_ephemeris):
@@ -111,6 +126,7 @@ class TestLaikad(unittest.TestCase):
     logs, low_gnss = get_log(range(1))
     cls.logs = logs
     cls.low_gnss = low_gnss
+    cls.logs_qcom = get_log_qcom(range(1))
     first_gps_time = get_first_gps_time(logs)
     cls.first_gps_time = first_gps_time
 
@@ -209,10 +225,11 @@ class TestLaikad(unittest.TestCase):
     self.assertTrue(kf_valid)
 
   def test_laika_online_nav_only(self):
-    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
+    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
+      laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
       # Disable fetch_orbits to test NAV only
-    correct_msgs = verify_messages(self.logs, laikad)
+      correct_msgs = verify_messages(logs, laikad)
-    correct_msgs_expected = 559
+      correct_msgs_expected = 42 if use_qcom else 559
       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]))
 
@@ -247,23 +264,31 @@ class TestLaikad(unittest.TestCase):
     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)
+    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
+      laikad = Laikad(auto_update=False, use_qcom=use_qcom)
       has_navs = False
-    for m in self.logs:
+      has_fix = False
-      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False)
+      for m in logs:
+        gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss
+        out_msg = laikad.process_gnss_msg(gnss_msg, 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:
+        vals = laikad.astro_dog.orbits.values()
-        break
+        has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0
-    self.assertTrue(has_navs)
+        if out_msg is not None:
+          has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid
+        
+      self.assertTrue(has_navs or has_polys)
+      self.assertTrue(has_fix)
       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)
+    use_qcom = True
-
+    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
+      laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom)
       def wait_for_cache():
         max_time = 2
         while Params().get(EPHEMERIS_CACHE) is None:
@@ -286,11 +311,11 @@ class TestLaikad(unittest.TestCase):
       wait_for_cache()
 
       # Check both nav and orbits separate
-    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True)
+      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True, use_qcom=use_qcom)
       # 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)
+      msg = verify_messages(logs, laikad, return_one_success=True)
       self.assertIsNotNone(msg)
 
       with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
@@ -305,7 +330,7 @@ class TestLaikad(unittest.TestCase):
         self.assertIsNotNone(msg)
         # Verify orbit data is not downloaded
         mock_method.assert_not_called()
-
+      break
 
   def test_low_gnss_meas(self):
     cnt = 0
@@ -323,6 +348,5 @@ class TestLaikad(unittest.TestCase):
     self.assertGreater(len(dct), 0)
     self.assertGreater(min([len(v) for v in dct.values()]), 0)
 
-
 if __name__ == "__main__":
   unittest.main()