You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
184 lines
6.4 KiB
184 lines
6.4 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import json
|
|
import random
|
|
import unittest
|
|
import time
|
|
import capnp
|
|
from cffi import FFI
|
|
|
|
from cereal import log
|
|
import cereal.messaging as messaging
|
|
from cereal.services import service_list
|
|
from common.params import Params
|
|
|
|
from selfdrive.manager.process_config import managed_processes
|
|
|
|
SENSOR_DECIMATION = 1
|
|
VISION_DECIMATION = 1
|
|
|
|
LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
|
|
|
|
|
|
class TestLocationdLib(unittest.TestCase):
|
|
def setUp(self):
|
|
header = '''typedef ...* Localizer_t;
|
|
Localizer_t localizer_init();
|
|
void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
|
|
void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
|
|
|
|
self.ffi = FFI()
|
|
self.ffi.cdef(header)
|
|
self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
|
|
|
|
self.localizer = self.lib.localizer_init()
|
|
|
|
self.buff_size = 2048
|
|
self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
|
|
|
|
def localizer_handle_msg(self, msg_builder):
|
|
bytstr = msg_builder.to_bytes()
|
|
self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
|
|
|
|
def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
|
|
self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
|
|
return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
|
|
|
|
def test_liblocalizer(self):
|
|
msg = messaging.new_message('liveCalibration')
|
|
msg.liveCalibration.validBlocks = random.randint(1, 10)
|
|
msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
|
|
|
|
self.localizer_handle_msg(msg)
|
|
liveloc = self.localizer_get_msg()
|
|
self.assertTrue(liveloc is not None)
|
|
|
|
@unittest.skip("temporarily disabled due to false positives")
|
|
def test_device_fell(self):
|
|
msg = messaging.new_message('sensorEvents', 1)
|
|
msg.sensorEvents[0].sensor = 1
|
|
msg.sensorEvents[0].timestamp = msg.logMonoTime
|
|
msg.sensorEvents[0].type = 1
|
|
msg.sensorEvents[0].init('acceleration')
|
|
msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0] # zero with gravity
|
|
self.localizer_handle_msg(msg)
|
|
|
|
ret = self.localizer_get_msg()
|
|
self.assertTrue(ret.liveLocationKalman.deviceStable)
|
|
|
|
msg = messaging.new_message('sensorEvents', 1)
|
|
msg.sensorEvents[0].sensor = 1
|
|
msg.sensorEvents[0].timestamp = msg.logMonoTime
|
|
msg.sensorEvents[0].type = 1
|
|
msg.sensorEvents[0].init('acceleration')
|
|
msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2
|
|
self.localizer_handle_msg(msg)
|
|
|
|
ret = self.localizer_get_msg()
|
|
self.assertFalse(ret.liveLocationKalman.deviceStable)
|
|
|
|
def test_posenet_spike(self):
|
|
for _ in range(SENSOR_DECIMATION):
|
|
msg = messaging.new_message('carState')
|
|
msg.carState.vEgo = 6.0 # more than 5 m/s
|
|
self.localizer_handle_msg(msg)
|
|
|
|
ret = self.localizer_get_msg()
|
|
self.assertTrue(ret.liveLocationKalman.posenetOK)
|
|
|
|
for _ in range(20 * VISION_DECIMATION): # size of hist_old
|
|
msg = messaging.new_message('cameraOdometry')
|
|
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
|
|
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
|
|
self.localizer_handle_msg(msg)
|
|
|
|
for _ in range(20 * VISION_DECIMATION): # size of hist_new
|
|
msg = messaging.new_message('cameraOdometry')
|
|
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
|
|
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger
|
|
self.localizer_handle_msg(msg)
|
|
|
|
ret = self.localizer_get_msg()
|
|
self.assertFalse(ret.liveLocationKalman.posenetOK)
|
|
|
|
|
|
class TestLocationdProc(unittest.TestCase):
|
|
MAX_WAITS = 1000
|
|
LLD_MSGS = {'gpsLocationExternal', 'cameraOdometry', 'carState', 'sensorEvents', 'liveCalibration'}
|
|
|
|
def setUp(self):
|
|
random.seed(123489234)
|
|
|
|
self.pm = messaging.PubMaster(self.LLD_MSGS)
|
|
|
|
managed_processes['locationd'].prepare()
|
|
managed_processes['locationd'].start()
|
|
|
|
time.sleep(1)
|
|
|
|
def tearDown(self):
|
|
managed_processes['locationd'].stop()
|
|
|
|
def send_msg(self, msg):
|
|
self.pm.send(msg.which(), msg)
|
|
waits_left = self.MAX_WAITS
|
|
while waits_left and not self.pm.all_readers_updated(msg.which()):
|
|
time.sleep(0)
|
|
waits_left -= 1
|
|
time.sleep(0.0001)
|
|
|
|
def get_fake_msg(self, name, t):
|
|
try:
|
|
msg = messaging.new_message(name)
|
|
except capnp.lib.capnp.KjException:
|
|
msg = messaging.new_message(name, 0)
|
|
|
|
if name == "gpsLocationExternal":
|
|
msg.gpsLocationExternal.flags = 1
|
|
msg.gpsLocationExternal.verticalAccuracy = 1.0
|
|
msg.gpsLocationExternal.speedAccuracy = 1.0
|
|
msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
|
|
msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
|
|
msg.gpsLocationExternal.latitude = self.lat
|
|
msg.gpsLocationExternal.longitude = self.lon
|
|
msg.gpsLocationExternal.altitude = self.alt
|
|
elif name == 'cameraOdometry':
|
|
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
|
|
msg.logMonoTime = t
|
|
return msg
|
|
|
|
def test_params_gps(self):
|
|
# first reset params
|
|
Params().delete('LastGPSPosition')
|
|
|
|
self.lat = 30 + (random.random() * 10.0)
|
|
self.lon = -70 + (random.random() * 10.0)
|
|
self.alt = 5 + (random.random() * 10.0)
|
|
self.fake_duration = 90 # secs
|
|
# get fake messages at the correct frequency, listed in services.py
|
|
fake_msgs = []
|
|
for sec in range(self.fake_duration):
|
|
for name in self.LLD_MSGS:
|
|
for j in range(int(service_list[name].frequency)):
|
|
fake_msgs.append(self.get_fake_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
|
|
|
|
for fake_msg in sorted(fake_msgs, key=lambda x: x.logMonoTime):
|
|
self.send_msg(fake_msg)
|
|
time.sleep(1) # wait for async params write
|
|
|
|
lastGPS = json.loads(Params().get('LastGPSPosition'))
|
|
|
|
self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3)
|
|
self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3)
|
|
self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|