Test power usage for mapsd and navmodeld (#28378)

* Test power usage for mapsd and navmodeld

* Send LLK message from thread

* Use threading.Event

system/hardware/tici/tests/test_power_draw.py

@@ -2,9 +2,11 @@
 import unittest
 import time
 import math
+import threading
 from dataclasses import dataclass
 from tabulate import tabulate
 
+import cereal.messaging as messaging
 from system.hardware import HARDWARE, TICI
 from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
@@ -24,8 +26,22 @@ PROCS = [
   Proc('modeld', 0.93, atol=0.2),
   Proc('dmonitoringmodeld', 0.4),
   Proc('encoderd', 0.23),
+  Proc('mapsd', 0.1),
+  Proc('navmodeld', 0.05),
 ]
 
+def send_llk_msg(done):
+  pm = messaging.PubMaster(['liveLocationKalman'])
+  msg = messaging.new_message('liveLocationKalman')
+  msg.liveLocationKalman.positionGeodetic = {'value': [32.7174, -117.16277, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.status = 'valid'
+
+  # Send liveLocationKalman at 20hz
+  while not done.is_set():
+    pm.send('liveLocationKalman', msg)
+    time.sleep(1/20)
+
 
 class TestPowerDraw(unittest.TestCase):
 
@@ -46,6 +62,9 @@ class TestPowerDraw(unittest.TestCase):
 
   def test_camera_procs(self):
     baseline = get_power()
+    done = threading.Event()
+    thread = threading.Thread(target=send_llk_msg, args=(done,), daemon=True)
+    thread.start()
 
     prev = baseline
     used = {}
@@ -57,6 +76,7 @@ class TestPowerDraw(unittest.TestCase):
       used[proc.name] = now - prev
       prev = now
 
+    done.set()
     manager_cleanup()
 
     tab = []