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63 lines
1.7 KiB
63 lines
1.7 KiB
#!/usr/bin/env python3
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import time
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import unittest
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import cereal.messaging as messaging
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from cereal.services import service_list
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from common.gpio import gpio_read
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from selfdrive.test.helpers import with_processes
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from selfdrive.manager.process_config import managed_processes
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from system.hardware import TICI
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from system.hardware.tici.pins import GPIO
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# TODO: test TTFF when we have good A-GNSS
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class TestPigeond(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if not TICI:
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raise unittest.SkipTest
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def tearDown(self):
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managed_processes['pigeond'].stop()
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@with_processes(['pigeond'])
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def test_frequency(self):
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sm = messaging.SubMaster(['ubloxRaw'])
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# setup time
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for _ in range(int(5 * service_list['ubloxRaw'].frequency)):
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sm.update()
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for _ in range(int(10 * service_list['ubloxRaw'].frequency)):
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sm.update()
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assert sm.all_checks()
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def test_startup_time(self):
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for _ in range(5):
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sm = messaging.SubMaster(['ubloxRaw'])
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managed_processes['pigeond'].start()
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start_time = time.monotonic()
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for __ in range(10):
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sm.update(1 * 1000)
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if sm.updated['ubloxRaw']:
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break
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assert sm.rcv_frame['ubloxRaw'] > 0, "pigeond didn't start outputting messages in time"
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et = time.monotonic() - start_time
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assert et < 5, f"pigeond took {et:.1f}s to start"
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managed_processes['pigeond'].stop()
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def test_turns_off_ublox(self):
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for s in (0.1, 0.5, 1, 5):
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managed_processes['pigeond'].start()
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time.sleep(s)
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managed_processes['pigeond'].stop()
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assert gpio_read(GPIO.UBLOX_RST_N) == 0
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assert gpio_read(GPIO.UBLOX_PWR_EN) == 0
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if __name__ == "__main__":
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unittest.main()
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