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liblocationd: No longer used (#29909)

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remove liblocationd
old-commit-hash: 01011c6c1d
test-msgs
Vivek Aithal 2 years ago committed by GitHub
parent e09216088e
commit 370d912053
4 changed files with 1 additions and 156 deletions
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  1. 1
      .github/workflows/selfdrive_tests.yaml
  2. 6
      selfdrive/locationd/SConscript
  3. 41
      selfdrive/locationd/liblocationd.cc
  4. 109
      selfdrive/locationd/test/_test_locationd_lib.py

1
.github/workflows/selfdrive_tests.yaml
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@ -264,7 +264,6 @@ jobs:
run: |
${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
$PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
selfdrive/locationd/test/_test_locationd_lib.py && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
./selfdrive/ui/tests/test_translations.py && \

6
selfdrive/locationd/SConscript
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@ -7,8 +7,4 @@ locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
lenv = env.Clone()
lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
lenv.Depends(locationd, libkf)
if File("liblocationd.cc").exists():
liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
lenv.Depends(liblocationd, libkf)
lenv.Depends(locationd, libkf)

41
selfdrive/locationd/liblocationd.cc
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@ -1,41 +0,0 @@
#include "selfdrive/locationd/locationd.h"
extern "C" {
typedef Localizer* Localizer_t;
Localizer *localizer_init(bool has_ublox) {
return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
}
void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
char *buff, size_t buff_size) {
MessageBuilder msg_builder;
kj::ArrayPtr<char> arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars();
assert(buff_size >= arr.size());
memcpy(buff, arr.begin(), arr.size());
}
void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) {
localizer->handle_msg_bytes(data, size);
}
void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){
Eigen::VectorXd state = localizer->get_state();
memcpy(state_buff, state.data(), sizeof(double) * state.size());
Eigen::VectorXd stdev = localizer->get_stdev();
memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
}
bool is_gps_ok(Localizer *localizer){
return localizer->is_gps_ok();
}
bool are_inputs_ok(Localizer *localizer){
return localizer->are_inputs_ok();
}
void observation_timings_invalid_reset(Localizer *localizer){
localizer->observation_timings_invalid_reset();
}
}

109
selfdrive/locationd/test/_test_locationd_lib.py
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@ -1,109 +0,0 @@
#!/usr/bin/env python3
"""This test can't be run together with other locationd tests.
cffi.dlopen breaks the list of registered filters."""
import os
import random
import unittest
from cffi import FFI
import cereal.messaging as messaging
from cereal import log
from openpilot.common.ffi_wrapper import suffix
SENSOR_DECIMATION = 1
VISION_DECIMATION = 1
LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
class TestLocationdLib(unittest.TestCase):
def setUp(self):
header = '''typedef ...* Localizer_t;
Localizer_t localizer_init(bool has_ublox);
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(True) # default to ublox
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)
with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
return log_evt
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('accelerometer')
msg.accelerometer.sensor = 1
msg.accelerometer.timestamp = msg.logMonoTime
msg.accelerometer.type = 1
msg.accelerometer.init('acceleration')
msg.accelerometer.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('accelerometer')
msg.accelerometer.sensor = 1
msg.accelerometer.timestamp = msg.logMonoTime
msg.accelerometer.type = 1
msg.accelerometer.init('acceleration')
msg.accelerometer.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)
if __name__ == "__main__":
unittest.main()
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