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141 lines
4.8 KiB
141 lines
4.8 KiB
#!/usr/bin/env python3
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import os
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import json
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import time
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import datetime
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import unittest
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import subprocess
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import numpy as np
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import cereal.messaging as messaging
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from system.hardware import TICI
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from system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
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from selfdrive.manager.process_config import managed_processes
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from common.transformations.coordinates import ecef_from_geodetic
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GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
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class TestRawgpsd(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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os.system("sudo systemctl restart systemd-resolved")
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os.system("sudo systemctl restart ModemManager lte")
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wait_for_modem()
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if not TICI:
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raise unittest.SkipTest
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cls.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
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@classmethod
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def tearDownClass(cls):
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managed_processes['rawgpsd'].stop()
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os.system("sudo systemctl restart systemd-resolved")
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os.system("sudo systemctl restart ModemManager lte")
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def setUp(self):
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at_cmd("AT+QGPSDEL=0")
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def tearDown(self):
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managed_processes['rawgpsd'].stop()
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os.system("sudo systemctl restart systemd-resolved")
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def _wait_for_output(self, t=10):
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time.sleep(t)
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self.sm.update()
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def test_no_crash_double_command(self):
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at_cmd("AT+QGPSDEL=0")
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at_cmd("AT+QGPSDEL=0")
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def test_wait_for_modem(self):
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os.system("sudo systemctl stop ModemManager lte")
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managed_processes['rawgpsd'].start()
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self._wait_for_output(10)
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assert not self.sm.updated['qcomGnss']
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os.system("sudo systemctl restart ModemManager lte")
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self._wait_for_output(30)
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assert self.sm.updated['qcomGnss']
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def test_startup_time(self):
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for i in range(2):
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if i == 1:
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os.system("sudo systemctl stop systemd-resolved")
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managed_processes['rawgpsd'].start()
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self._wait_for_output(10)
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assert self.sm.updated['qcomGnss']
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managed_processes['rawgpsd'].stop()
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def test_turns_off_gnss(self):
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for s in (0.1, 0.5, 1, 5):
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managed_processes['rawgpsd'].start()
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time.sleep(s)
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managed_processes['rawgpsd'].stop()
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ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
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loc_status = json.loads(ls)
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assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
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def check_assistance(self, should_be_loaded):
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# after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
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# after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
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out = at_cmd("AT+QGPSXTRADATA?")
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out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
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valid_duration, injected_time_str = out.split(",", 1)
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if should_be_loaded:
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assert valid_duration == "10080" # should be max time
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injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
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self.assertLess(abs((datetime.datetime.utcnow() - injected_time).total_seconds()), 60*60*12)
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else:
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valid_duration, injected_time_str = out.split(",", 1)
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injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
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assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
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assert valid_duration == '0'
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def test_assistance_loading(self):
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managed_processes['rawgpsd'].start()
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self._wait_for_output(10)
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assert self.sm.updated['qcomGnss']
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managed_processes['rawgpsd'].stop()
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self.check_assistance(True)
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def test_no_assistance_loading(self):
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os.system("sudo systemctl stop systemd-resolved")
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managed_processes['rawgpsd'].start()
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self._wait_for_output(10)
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assert self.sm.updated['qcomGnss']
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managed_processes['rawgpsd'].stop()
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self.check_assistance(False)
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def test_late_assistance_loading(self):
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os.system("sudo systemctl stop systemd-resolved")
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managed_processes['rawgpsd'].start()
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self._wait_for_output(17)
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assert self.sm.updated['qcomGnss']
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os.system("sudo systemctl restart systemd-resolved")
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self._wait_for_output(15)
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managed_processes['rawgpsd'].stop()
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self.check_assistance(True)
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@unittest.skipIf(not GOOD_SIGNAL, "No good GPS signal")
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def test_fix(self):
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managed_processes['rawgpsd'].start()
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managed_processes['laikad'].start()
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assert self._wait_for_output(60)
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assert self.sm.updated['qcomGnss']
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assert self.sm.updated['gpsLocation']
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assert self.sm['gpsLocation'].flags == 1
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module_fix = ecef_from_geodetic([self.sm['gpsLocation'].latitude,
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self.sm['gpsLocation'].longitude,
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self.sm['gpsLocation'].altitude])
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assert self.sm['gnssMeasurements'].positionECEF.valid
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total_diff = np.array(self.sm['gnssMeasurements'].positionECEF.value) - module_fix
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self.assertLess(np.linalg.norm(total_diff), 100)
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managed_processes['laikad'].stop()
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managed_processes['rawgpsd'].stop()
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if __name__ == "__main__":
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unittest.main(failfast=True)
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