Shane Smiskol
2 years ago
commit
7d0317b7e1
54 changed files with 545 additions and 1315 deletions
@ -0,0 +1,37 @@ |
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import pytest |
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from openpilot.selfdrive.test.process_replay.helpers import ALL_PROCS |
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from openpilot.selfdrive.test.process_replay.test_processes import ALL_CARS |
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def pytest_addoption(parser: pytest.Parser): |
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parser.addoption("--whitelist-procs", type=str, nargs="*", default=ALL_PROCS, |
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help="Whitelist given processes from the test (e.g. controlsd)") |
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parser.addoption("--whitelist-cars", type=str, nargs="*", default=ALL_CARS, |
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help="Whitelist given cars from the test (e.g. HONDA)") |
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parser.addoption("--blacklist-procs", type=str, nargs="*", default=[], |
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help="Blacklist given processes from the test (e.g. controlsd)") |
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parser.addoption("--blacklist-cars", type=str, nargs="*", default=[], |
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help="Blacklist given cars from the test (e.g. HONDA)") |
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parser.addoption("--ignore-fields", type=str, nargs="*", default=[], |
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help="Extra fields or msgs to ignore (e.g. carState.events)") |
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parser.addoption("--ignore-msgs", type=str, nargs="*", default=[], |
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help="Msgs to ignore (e.g. carEvents)") |
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parser.addoption("--update-refs", action="store_true", |
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help="Updates reference logs using current commit") |
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parser.addoption("--upload-only", action="store_true", |
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help="Skips testing processes and uploads logs from previous test run") |
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parser.addoption("--long-diff", action="store_true", |
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help="Outputs diff in long format") |
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@pytest.fixture(scope="class", autouse=True) |
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def process_replay_test_arguments(request): |
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if hasattr(request.cls, "segment"): # check if a subclass of TestProcessReplayBase |
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request.cls.tested_procs = list(set(request.config.getoption("--whitelist-procs")) - set(request.config.getoption("--blacklist-procs"))) |
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request.cls.tested_cars = list({c.upper() for c in set(request.config.getoption("--whitelist-cars")) - set(request.config.getoption("--blacklist-cars"))}) |
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request.cls.ignore_fields = request.config.getoption("--ignore-fields") |
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request.cls.ignore_msgs = request.config.getoption("--ignore-msgs") |
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request.cls.upload_only = request.config.getoption("--upload-only") |
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request.cls.update_refs = request.config.getoption("--update-refs") |
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request.cls.long_diff = request.config.getoption("--long-diff") |
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@ -0,0 +1,150 @@ |
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#!/usr/bin/env python3 |
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import os |
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import sys |
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import unittest |
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from parameterized import parameterized |
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from typing import Optional, Union, List |
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from openpilot.selfdrive.test.openpilotci import get_url, upload_file |
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from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_process_diff |
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from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process |
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from openpilot.system.version import get_commit |
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from openpilot.tools.lib.filereader import FileReader |
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from openpilot.tools.lib.helpers import save_log |
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from openpilot.tools.lib.logreader import LogReader, LogIterable |
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BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" |
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REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") |
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EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} |
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def get_log_data(segment): |
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r, n = segment.rsplit("--", 1) |
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with FileReader(get_url(r, n)) as f: |
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return f.read() |
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ALL_PROCS = sorted({cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}) |
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PROC_TO_CFG = {cfg.proc_name: cfg for cfg in CONFIGS} |
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cpu_count = os.cpu_count() or 1 |
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class TestProcessReplayBase(unittest.TestCase): |
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""" |
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Base class that replays all processes within test_proceses from a segment, |
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and puts the log messages in self.log_msgs for analysis by other tests. |
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""" |
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segment: Optional[Union[str, LogIterable]] = None |
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tested_procs: List[str] = ALL_PROCS |
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@classmethod |
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def setUpClass(cls, create_logs=True): |
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if "Base" in cls.__name__: |
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raise unittest.SkipTest("skipping base class") |
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if isinstance(cls.segment, str): |
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cls.log_reader = LogReader.from_bytes(get_log_data(cls.segment)) |
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else: |
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cls.log_reader = cls.segment |
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if create_logs: |
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cls._create_log_msgs() |
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@classmethod |
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def _run_replay(cls, cfg): |
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try: |
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return replay_process(cfg, cls.log_reader, disable_progress=True) |
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except Exception as e: |
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raise Exception(f"failed on segment: {cls.segment} \n{e}") from e |
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@classmethod |
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def _create_log_msgs(cls): |
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cls.log_msgs = {} |
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cls.proc_cfg = {} |
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for proc in cls.tested_procs: |
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cfg = PROC_TO_CFG[proc] |
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log_msgs = cls._run_replay(cfg) |
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cls.log_msgs[proc] = log_msgs |
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cls.proc_cfg[proc] = cfg |
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class TestProcessReplayDiffBase(TestProcessReplayBase): |
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""" |
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Base class for checking for diff between process outputs. |
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""" |
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update_refs = False |
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upload_only = False |
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long_diff = False |
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ignore_msgs: List[str] = [] |
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ignore_fields: List[str] = [] |
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def setUp(self): |
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super().setUp() |
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if self.upload_only: |
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raise unittest.SkipTest("skipping test, uploading only") |
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@classmethod |
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def setUpClass(cls): |
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super().setUpClass(not cls.upload_only) |
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if cls.long_diff: |
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cls.maxDiff = None |
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os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True) |
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cls.cur_commit = get_commit() |
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cls.assertNotEqual(cls.cur_commit, None, "Couldn't get current commit") |
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cls.upload = cls.update_refs or cls.upload_only |
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try: |
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with open(REF_COMMIT_FN) as f: |
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cls.ref_commit = f.read().strip() |
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except FileNotFoundError: |
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print("Couldn't find reference commit") |
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sys.exit(1) |
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cls._create_ref_log_msgs() |
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@classmethod |
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def _create_ref_log_msgs(cls): |
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cls.ref_log_msgs = {} |
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for proc in cls.tested_procs: |
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cur_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.cur_commit}.bz2") |
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if cls.update_refs: # reference logs will not exist if routes were just regenerated |
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ref_log_path = get_url(*cls.segment.rsplit("--", 1)) |
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else: |
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ref_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.ref_commit}.bz2") |
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ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) |
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if not cls.upload_only: |
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save_log(cur_log_fn, cls.log_msgs[proc]) |
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cls.ref_log_msgs[proc] = list(LogReader(ref_log_path)) |
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if cls.upload: |
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assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" |
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upload_file(cur_log_fn, os.path.basename(cur_log_fn)) |
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os.remove(cur_log_fn) |
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@parameterized.expand(ALL_PROCS) |
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def test_process_diff(self, proc): |
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if proc not in self.tested_procs: |
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raise unittest.SkipTest(f"{proc} was not requested to be tested") |
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cfg = self.proc_cfg[proc] |
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log_msgs = self.log_msgs[proc] |
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ref_log_msgs = self.ref_log_msgs[proc] |
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diff = compare_logs(ref_log_msgs, log_msgs, self.ignore_fields + cfg.ignore, self.ignore_msgs) |
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diff_short, diff_long = format_process_diff(diff) |
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self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short) |
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@ -0,0 +1,5 @@ |
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[pytest] |
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addopts = -Werror --strict-config --strict-markers |
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markers = |
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slow: tests that take awhile to run and can be skipped with -m 'not slow' |
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tici: tests that are only meant to run on the C3/C3X |
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@ -0,0 +1,28 @@ |
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[connection] |
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id=esim |
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uuid=fff6553c-3284-4707-a6b1-acc021caaafb |
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type=gsm |
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permissions= |
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autoconnect=true |
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autoconnect-retries=100 |
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[gsm] |
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apn= |
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home-only=false |
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auto-config=true |
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sim-id= |
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[ipv4] |
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route-metric=1000 |
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dns-priority=1000 |
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dns-search= |
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method=auto |
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[ipv6] |
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ddr-gen-mode=stable-privacy |
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dns-search= |
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route-metric=1000 |
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dns-priority=1000 |
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method=auto |
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[proxy] |
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@ -1,66 +0,0 @@ |
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#!/usr/bin/env python3 |
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import cereal.messaging as messaging |
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from laika import constants |
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if __name__ == "__main__": |
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sm = messaging.SubMaster(['ubloxGnss', 'qcomGnss']) |
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meas = None |
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while 1: |
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sm.update() |
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if sm['ubloxGnss'].which() == "measurementReport": |
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meas = sm['ubloxGnss'].measurementReport.measurements |
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if not sm.updated['qcomGnss'] or meas is None: |
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continue |
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report = sm['qcomGnss'].measurementReport |
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if report.source not in [0, 1]: |
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continue |
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GLONASS = report.source == 1 |
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recv_time = report.milliseconds / 1000 |
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car = [] |
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print("qcom has ", sorted([x.svId for x in report.sv])) |
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print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])) |
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for i in report.sv: |
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# match to ublox |
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tm = None |
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for m in meas: |
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if i.svId == m.svId and m.gnssId == 0 and m.sigId == 0 and not GLONASS: |
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tm = m |
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if (i.svId-64) == m.svId and m.gnssId == 6 and m.sigId == 0 and GLONASS: |
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tm = m |
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if tm is None: |
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continue |
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if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown: |
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sat_time = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency) / 1000 |
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ublox_psuedorange = tm.pseudorange |
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qcom_psuedorange = (recv_time - sat_time)*constants.SPEED_OF_LIGHT |
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if GLONASS: |
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glonass_freq = tm.glonassFrequencyIndex - 7 |
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ublox_speed = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq*constants.GLONASS_L1_DELTA)) * (tm.doppler) |
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else: |
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ublox_speed = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * tm.doppler |
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qcom_speed = i.unfilteredSpeed |
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car.append((i.svId, tm.pseudorange, ublox_speed, qcom_psuedorange, qcom_speed, tm.cno)) |
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if len(car) == 0: |
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print("nothing to compare") |
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continue |
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pr_err, speed_err = 0., 0. |
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for c in car: |
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ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed = c[1:5] |
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pr_err += ublox_psuedorange - qcom_psuedorange |
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speed_err += ublox_speed - qcom_speed |
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pr_err /= len(car) |
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speed_err /= len(car) |
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print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err)) |
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for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)): |
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svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c |
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print("svid: %3d pseudorange: %10.2f m speed: %8.2f m/s meas: %12.2f speed: %10.2f meas_err: %10.3f speed_err: %8.3f cno: %d" % |
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(svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, |
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ublox_psuedorange - qcom_psuedorange - pr_err, ublox_speed - qcom_speed - speed_err, cno)) |
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@ -1,117 +0,0 @@ |
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#!/usr/bin/env python3 |
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import unittest |
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import time |
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import numpy as np |
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from laika import AstroDog |
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from laika.helpers import ConstellationId |
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from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox |
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from laika.opt import calc_pos_fix |
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from openpilot.selfdrive.test.openpilotci import get_url |
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from openpilot.system.hardware.hw import Paths |
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from openpilot.tools.lib.logreader import LogReader |
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from openpilot.selfdrive.test.helpers import with_processes |
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import cereal.messaging as messaging |
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def get_gnss_measurements(log_reader): |
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gnss_measurements = [] |
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for msg in log_reader: |
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if msg.which() == "ubloxGnss": |
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ublox_msg = msg.ubloxGnss |
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if ublox_msg.which == 'measurementReport': |
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report = ublox_msg.measurementReport |
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if len(report.measurements) > 0: |
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gnss_measurements.append(read_raw_ublox(report)) |
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return gnss_measurements |
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def get_ublox_raw(log_reader): |
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ublox_raw = [] |
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for msg in log_reader: |
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if msg.which() == "ubloxRaw": |
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ublox_raw.append(msg) |
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return ublox_raw |
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class TestUbloxProcessing(unittest.TestCase): |
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NUM_TEST_PROCESS_MEAS = 10 |
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@classmethod |
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def setUpClass(cls): |
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lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0)) |
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cls.gnss_measurements = get_gnss_measurements(lr) |
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# test gps ephemeris continuity check (drive has ephemeris issues with cutover data) |
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lr = LogReader(get_url("37b6542f3211019a|2023-01-15--23-45-10", 14)) |
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cls.ublox_raw = get_ublox_raw(lr) |
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def test_read_ublox_raw(self): |
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count_gps = 0 |
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count_glonass = 0 |
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for measurements in self.gnss_measurements: |
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for m in measurements: |
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if m.constellation_id == ConstellationId.GPS: |
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count_gps += 1 |
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elif m.constellation_id == ConstellationId.GLONASS: |
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count_glonass += 1 |
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self.assertEqual(count_gps, 5036) |
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self.assertEqual(count_glonass, 3651) |
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def test_get_fix(self): |
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dog = AstroDog(cache_dir=Paths.download_cache_root()) |
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position_fix_found = 0 |
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count_processed_measurements = 0 |
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count_corrected_measurements = 0 |
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position_fix_found_after_correcting = 0 |
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pos_ests = [] |
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for measurements in self.gnss_measurements[:self.NUM_TEST_PROCESS_MEAS]: |
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processed_meas = process_measurements(measurements, dog) |
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count_processed_measurements += len(processed_meas) |
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pos_fix = calc_pos_fix(processed_meas) |
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if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]): |
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position_fix_found += 1 |
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corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog) |
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count_corrected_measurements += len(corrected_meas) |
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pos_fix = calc_pos_fix(corrected_meas) |
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if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]): |
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pos_ests.append(pos_fix[0]) |
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position_fix_found_after_correcting += 1 |
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|
||||||
mean_fix = np.mean(np.array(pos_ests)[:, :3], axis=0) |
|
||||||
np.testing.assert_allclose(mean_fix, [-2452306.662377, -4778343.136806, 3428550.090557], rtol=0, atol=1) |
|
||||||
|
|
||||||
# Note that can happen that there are less corrected measurements compared to processed when they are invalid. |
|
||||||
# However, not for the current segment |
|
||||||
self.assertEqual(position_fix_found, self.NUM_TEST_PROCESS_MEAS) |
|
||||||
self.assertEqual(position_fix_found_after_correcting, self.NUM_TEST_PROCESS_MEAS) |
|
||||||
self.assertEqual(count_processed_measurements, 69) |
|
||||||
self.assertEqual(count_corrected_measurements, 69) |
|
||||||
|
|
||||||
@with_processes(['ubloxd']) |
|
||||||
def test_ublox_gps_cutover(self): |
|
||||||
time.sleep(2) |
|
||||||
ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) |
|
||||||
ur_pm = messaging.PubMaster(['ubloxRaw']) |
|
||||||
|
|
||||||
def replay_segment(): |
|
||||||
rcv_msgs = [] |
|
||||||
for msg in self.ublox_raw: |
|
||||||
ur_pm.send(msg.which(), msg.as_builder()) |
|
||||||
time.sleep(0.001) |
|
||||||
rcv_msgs += messaging.drain_sock(ugs) |
|
||||||
|
|
||||||
time.sleep(0.1) |
|
||||||
rcv_msgs += messaging.drain_sock(ugs) |
|
||||||
return rcv_msgs |
|
||||||
|
|
||||||
# replay twice to enforce cutover data on rewind |
|
||||||
rcv_msgs = replay_segment() |
|
||||||
rcv_msgs += replay_segment() |
|
||||||
|
|
||||||
ephems_cnt = sum(m.ubloxGnss.which() == 'ephemeris' for m in rcv_msgs) |
|
||||||
self.assertEqual(ephems_cnt, 15) |
|
||||||
|
|
||||||
if __name__ == "__main__": |
|
||||||
unittest.main() |
|
||||||
@ -1,4 +0,0 @@ |
|||||||
LimeGPS/ |
|
||||||
LimeSuite/ |
|
||||||
hackrf/ |
|
||||||
gps-sdr-sim/ |
|
||||||
@ -1,33 +0,0 @@ |
|||||||
# GPS test setup |
|
||||||
Testing the GPS receiver using GPS spoofing. At the moment only |
|
||||||
static location relpay is supported. |
|
||||||
|
|
||||||
# Usage |
|
||||||
on C3 run `rpc_server.py`, on host PC run `fuzzy_testing.py` |
|
||||||
|
|
||||||
`simulate_gps_signal.py` downloads the latest ephemeris file from |
|
||||||
https://cddis.nasa.gov/archive/gnss/data/daily/20xx/brdc/. |
|
||||||
|
|
||||||
|
|
||||||
# Hardware Setup |
|
||||||
* [LimeSDR USB](https://wiki.myriadrf.org/LimeSDR-USB) |
|
||||||
* Asus AX58BT antenna |
|
||||||
|
|
||||||
# Software Setup |
|
||||||
* https://github.com/myriadrf/LimeSuite |
|
||||||
To communicate with LimeSDR the LimeSuite is needed it abstracts the direct |
|
||||||
communication. It also contains examples for a quick start. |
|
||||||
|
|
||||||
The latest stable version (22.09) does not have the corresponding firmware |
|
||||||
download available at https://downloads.myriadrf.org/project/limesuite. Therefore |
|
||||||
version 20.10 was chosen. |
|
||||||
|
|
||||||
* https://github.com/osqzss/LimeGPS |
|
||||||
Built on top of LimeSuite (libLimeSuite.so.20.10-1), generates the GPS signal. |
|
||||||
|
|
||||||
``` |
|
||||||
./LimeGPS -e <ephemeris file> -l <location coordinates> |
|
||||||
|
|
||||||
# Example |
|
||||||
./LimeGPS -e /pathTo/brdc2660.22n -l 47.202028,15.740394,100 |
|
||||||
``` |
|
||||||
@ -1,111 +0,0 @@ |
|||||||
#!/usr/bin/env python3 |
|
||||||
import argparse |
|
||||||
import multiprocessing |
|
||||||
import rpyc |
|
||||||
from collections import defaultdict |
|
||||||
|
|
||||||
from helper import download_rinex, exec_LimeGPS_bin |
|
||||||
from helper import get_random_coords, get_continuous_coords |
|
||||||
|
|
||||||
#------------------------------------------------------------------------------ |
|
||||||
# this script is supposed to run on HOST PC |
|
||||||
# limeSDR is unreliable via c3 USB |
|
||||||
#------------------------------------------------------------------------------ |
|
||||||
|
|
||||||
|
|
||||||
def run_lime_gps(rinex_file: str, location: str, timeout: int): |
|
||||||
# needs to run longer than the checker |
|
||||||
timeout += 10 |
|
||||||
print(f"LimeGPS {location} {timeout}") |
|
||||||
p = multiprocessing.Process(target=exec_LimeGPS_bin, |
|
||||||
args=(rinex_file, location, timeout)) |
|
||||||
p.start() |
|
||||||
return p |
|
||||||
|
|
||||||
con = None |
|
||||||
def run_remote_checker(lat, lon, alt, duration, ip_addr): |
|
||||||
global con |
|
||||||
try: |
|
||||||
con = rpyc.connect(ip_addr, 18861) |
|
||||||
con._config['sync_request_timeout'] = duration+20 |
|
||||||
except ConnectionRefusedError: |
|
||||||
print("could not run remote checker is 'rpc_server.py' running???") |
|
||||||
return False, None, None |
|
||||||
|
|
||||||
matched, log, info = con.root.exposed_run_checker(lat, lon, alt, |
|
||||||
timeout=duration) |
|
||||||
con.close() # TODO: might wanna fetch more logs here |
|
||||||
con = None |
|
||||||
|
|
||||||
print(f"Remote Checker: {log} {info}") |
|
||||||
return matched, log, info |
|
||||||
|
|
||||||
|
|
||||||
stats = defaultdict(int) # type: ignore |
|
||||||
keys = ['success', 'failed', 'ublox_fail', 'proc_crash', 'checker_crash'] |
|
||||||
|
|
||||||
def print_report(): |
|
||||||
print("\nFuzzy testing report summary:") |
|
||||||
for k in keys: |
|
||||||
print(f" {k}: {stats[k]}") |
|
||||||
|
|
||||||
|
|
||||||
def update_stats(matched, log, info): |
|
||||||
if matched: |
|
||||||
stats['success'] += 1 |
|
||||||
return |
|
||||||
|
|
||||||
stats['failed'] += 1 |
|
||||||
if log == "PROC CRASH": |
|
||||||
stats['proc_crash'] += 1 |
|
||||||
if log == "CHECKER CRASHED": |
|
||||||
stats['checker_crash'] += 1 |
|
||||||
if log == "TIMEOUT": |
|
||||||
stats['ublox_fail'] += 1 |
|
||||||
|
|
||||||
|
|
||||||
def main(ip_addr, continuous_mode, timeout, pos): |
|
||||||
rinex_file = download_rinex() |
|
||||||
|
|
||||||
lat, lon, alt = pos |
|
||||||
if lat == 0 and lon == 0 and alt == 0: |
|
||||||
lat, lon, alt = get_random_coords(47.2020, 15.7403) |
|
||||||
|
|
||||||
try: |
|
||||||
while True: |
|
||||||
# spoof random location |
|
||||||
spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},{alt}", timeout) |
|
||||||
|
|
||||||
# remote checker execs blocking |
|
||||||
matched, log, info = run_remote_checker(lat, lon, alt, timeout, ip_addr) |
|
||||||
update_stats(matched, log, info) |
|
||||||
spoof_proc.terminate() |
|
||||||
spoof_proc = None |
|
||||||
|
|
||||||
if continuous_mode: |
|
||||||
lat, lon, alt = get_continuous_coords(lat, lon, alt) |
|
||||||
else: |
|
||||||
lat, lon, alt = get_random_coords(lat, lon) |
|
||||||
except KeyboardInterrupt: |
|
||||||
if spoof_proc is not None: |
|
||||||
spoof_proc.terminate() |
|
||||||
|
|
||||||
if con is not None and not con.closed: |
|
||||||
con.root.exposed_kill_procs() |
|
||||||
con.close() |
|
||||||
|
|
||||||
print_report() |
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__": |
|
||||||
parser = argparse.ArgumentParser(description="Fuzzy test GPS stack with random locations.") |
|
||||||
parser.add_argument("ip_addr", type=str) |
|
||||||
parser.add_argument("-c", "--contin", type=bool, nargs='?', default=False, help='Continous location change') |
|
||||||
parser.add_argument("-t", "--timeout", type=int, nargs='?', default=180, help='Timeout to get location') |
|
||||||
|
|
||||||
# for replaying a location |
|
||||||
parser.add_argument("lat", type=float, nargs='?', default=0) |
|
||||||
parser.add_argument("lon", type=float, nargs='?', default=0) |
|
||||||
parser.add_argument("alt", type=float, nargs='?', default=0) |
|
||||||
args = parser.parse_args() |
|
||||||
main(args.ip_addr, args.contin, args.timeout, (args.lat, args.lon, args.alt)) |
|
||||||
@ -1,53 +0,0 @@ |
|||||||
import random |
|
||||||
import datetime as dt |
|
||||||
import subprocess as sp |
|
||||||
from typing import Tuple |
|
||||||
|
|
||||||
from laika.downloader import download_nav |
|
||||||
from laika.gps_time import GPSTime |
|
||||||
from laika.helpers import ConstellationId |
|
||||||
|
|
||||||
|
|
||||||
def download_rinex(): |
|
||||||
# TODO: check if there is a better way to get the full brdc file for LimeGPS |
|
||||||
gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) |
|
||||||
utc_time = dt.datetime.utcnow() - dt.timedelta(1) |
|
||||||
gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) |
|
||||||
return download_nav(gps_time, '/tmp/gpstest/', ConstellationId.GPS) |
|
||||||
|
|
||||||
|
|
||||||
def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int): |
|
||||||
# this functions should never return, cause return means, timeout is |
|
||||||
# reached or it crashed |
|
||||||
try: |
|
||||||
cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location] |
|
||||||
sp.check_output(cmd, timeout=duration) |
|
||||||
except sp.TimeoutExpired: |
|
||||||
print("LimeGPS timeout reached!") |
|
||||||
except Exception as e: |
|
||||||
print(f"LimeGPS crashed: {str(e)}") |
|
||||||
|
|
||||||
|
|
||||||
def get_random_coords(lat, lon) -> Tuple[float, float, int]: |
|
||||||
# jump around the world |
|
||||||
# max values, lat: -90 to 90, lon: -180 to 180 |
|
||||||
|
|
||||||
lat_add = random.random()*20 + 10 |
|
||||||
lon_add = random.random()*20 + 20 |
|
||||||
alt = random.randint(-10**3, 4*10**3) |
|
||||||
|
|
||||||
lat = ((lat + lat_add + 90) % 180) - 90 |
|
||||||
lon = ((lon + lon_add + 180) % 360) - 180 |
|
||||||
return round(lat, 5), round(lon, 5), alt |
|
||||||
|
|
||||||
|
|
||||||
def get_continuous_coords(lat, lon, alt) -> Tuple[float, float, int]: |
|
||||||
# continuously move around the world |
|
||||||
lat_add = random.random()*0.01 |
|
||||||
lon_add = random.random()*0.01 |
|
||||||
alt_add = random.randint(-100, 100) |
|
||||||
|
|
||||||
lat = ((lat + lat_add + 90) % 180) - 90 |
|
||||||
lon = ((lon + lon_add + 180) % 360) - 180 |
|
||||||
alt += alt_add |
|
||||||
return round(lat, 5), round(lon, 5), alt |
|
||||||
@ -1,44 +0,0 @@ |
|||||||
diff --git a/host/hackrf-tools/src/CMakeLists.txt b/host/hackrf-tools/src/CMakeLists.txt
|
|
||||||
index 7115151c..a51388ba 100644
|
|
||||||
--- a/host/hackrf-tools/src/CMakeLists.txt
|
|
||||||
+++ b/host/hackrf-tools/src/CMakeLists.txt
|
|
||||||
@@ -23,20 +23,20 @@
|
|
||||||
|
|
||||||
set(INSTALL_DEFAULT_BINDIR "bin" CACHE STRING "Appended to CMAKE_INSTALL_PREFIX")
|
|
||||||
|
|
||||||
-find_package(FFTW REQUIRED)
|
|
||||||
-include_directories(${FFTW_INCLUDES})
|
|
||||||
-get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY)
|
|
||||||
-link_directories(${FFTW_LIBRARY_DIRS})
|
|
||||||
+#find_package(FFTW REQUIRED)
|
|
||||||
+#include_directories(${FFTW_INCLUDES})
|
|
||||||
+#get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY)
|
|
||||||
+#link_directories(${FFTW_LIBRARY_DIRS})
|
|
||||||
|
|
||||||
SET(TOOLS
|
|
||||||
hackrf_transfer
|
|
||||||
- hackrf_spiflash
|
|
||||||
- hackrf_cpldjtag
|
|
||||||
+ #hackrf_spiflash
|
|
||||||
+ #hackrf_cpldjtag
|
|
||||||
hackrf_info
|
|
||||||
- hackrf_debug
|
|
||||||
- hackrf_clock
|
|
||||||
- hackrf_sweep
|
|
||||||
- hackrf_operacake
|
|
||||||
+ #hackrf_debug
|
|
||||||
+ #hackrf_clock
|
|
||||||
+ #hackrf_sweep
|
|
||||||
+ #hackrf_operacake
|
|
||||||
)
|
|
||||||
|
|
||||||
if(MSVC)
|
|
||||||
@@ -45,7 +45,7 @@ if(MSVC)
|
|
||||||
)
|
|
||||||
LIST(APPEND TOOLS_LINK_LIBS ${FFTW_LIBRARIES})
|
|
||||||
else()
|
|
||||||
- LIST(APPEND TOOLS_LINK_LIBS m fftw3f)
|
|
||||||
+ LIST(APPEND TOOLS_LINK_LIBS m)# fftw3f)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(NOT libhackrf_SOURCE_DIR)
|
|
||||||
@ -1,13 +0,0 @@ |
|||||||
diff --git a/gpssim.h b/gpssim.h
|
|
||||||
index c30b227..2ae0802 100644
|
|
||||||
--- a/gpssim.h
|
|
||||||
+++ b/gpssim.h
|
|
||||||
@@ -75,7 +75,7 @@
|
|
||||||
#define SC08 (8)
|
|
||||||
#define SC16 (16)
|
|
||||||
|
|
||||||
-#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc)
|
|
||||||
+#define EPHEM_ARRAY_SIZE (20) // for daily GPS broadcast ephemers file (brdc)
|
|
||||||
|
|
||||||
/*! \brief Structure representing GPS time */
|
|
||||||
typedef struct
|
|
||||||
@ -1,11 +0,0 @@ |
|||||||
diff --git a/makefile b/makefile
|
|
||||||
index 51bfabf..d0ea1eb 100644
|
|
||||||
--- a/makefile
|
|
||||||
+++ b/makefile
|
|
||||||
@@ -1,5 +1,4 @@
|
|
||||||
CC=gcc -O2 -Wall
|
|
||||||
|
|
||||||
all: limegps.c gpssim.c
|
|
||||||
- $(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite
|
|
||||||
-
|
|
||||||
+ $(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite -I../LimeSuite/src -L../LimeSuite/builddir/src -Wl,-rpath="$(PWD)/../LimeSuite/builddir/src"
|
|
||||||
@ -1,13 +0,0 @@ |
|||||||
diff --git a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp
|
|
||||||
index 41a37044..ac29c6b6 100644
|
|
||||||
--- a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp
|
|
||||||
+++ b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp
|
|
||||||
@@ -254,7 +254,7 @@ int LMS7002M::CalibrateTx(float_type bandwidth_Hz, bool useExtLoopback)
|
|
||||||
mcuControl->RunProcedure(useExtLoopback ? MCU_FUNCTION_CALIBRATE_TX_EXTLOOPB : MCU_FUNCTION_CALIBRATE_TX);
|
|
||||||
status = mcuControl->WaitForMCU(1000);
|
|
||||||
if(status != MCU_BD::MCU_NO_ERROR)
|
|
||||||
- return ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status));
|
|
||||||
+ return -1; //ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status));
|
|
||||||
}
|
|
||||||
|
|
||||||
//sync registers to cache
|
|
||||||
@ -1,13 +0,0 @@ |
|||||||
diff --git a/src/FPGA_common/FPGA_common.cpp b/src/FPGA_common/FPGA_common.cpp
|
|
||||||
index 4e81f33e..7381c475 100644
|
|
||||||
--- a/src/FPGA_common/FPGA_common.cpp
|
|
||||||
+++ b/src/FPGA_common/FPGA_common.cpp
|
|
||||||
@@ -946,7 +946,7 @@ double FPGA::DetectRefClk(double fx3Clk)
|
|
||||||
|
|
||||||
if (i == 0)
|
|
||||||
return -1;
|
|
||||||
- lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6);
|
|
||||||
+ //lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6);
|
|
||||||
return clkTbl[i - 1];
|
|
||||||
}
|
|
||||||
|
|
||||||
@ -1,16 +0,0 @@ |
|||||||
#!/bin/bash |
|
||||||
|
|
||||||
# NOTE: can only run inside limeGPS test box! |
|
||||||
|
|
||||||
# run limeGPS with random static location |
|
||||||
timeout 300 ./simulate_gps_signal.py 32.7518 -117.1962 & |
|
||||||
gps_PID=$(ps -aux | grep -m 1 "timeout 300" | awk '{print $2}') |
|
||||||
|
|
||||||
echo "starting limeGPS..." |
|
||||||
sleep 10 |
|
||||||
|
|
||||||
# run unit tests (skipped when module not present) |
|
||||||
python -m unittest test_gps.py |
|
||||||
python -m unittest test_gps_qcom.py |
|
||||||
|
|
||||||
kill $gps_PID |
|
||||||
@ -1,25 +0,0 @@ |
|||||||
#!/bin/bash |
|
||||||
set -e |
|
||||||
|
|
||||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" |
|
||||||
cd $DIR |
|
||||||
|
|
||||||
if [ ! -d LimeSuite ]; then |
|
||||||
git clone https://github.com/myriadrf/LimeSuite.git |
|
||||||
cd LimeSuite |
|
||||||
# checkout latest version which has firmware updates available |
|
||||||
git checkout v20.10.0 |
|
||||||
git apply ../patches/limeSuite/* |
|
||||||
mkdir builddir && cd builddir |
|
||||||
cmake -DCMAKE_BUILD_TYPE=Release .. |
|
||||||
make -j4 |
|
||||||
cd ../.. |
|
||||||
fi |
|
||||||
|
|
||||||
if [ ! -d LimeGPS ]; then |
|
||||||
git clone https://github.com/osqzss/LimeGPS.git |
|
||||||
cd LimeGPS |
|
||||||
git apply ../patches/limeGPS/* |
|
||||||
make |
|
||||||
cd .. |
|
||||||
fi |
|
||||||
@ -1,21 +0,0 @@ |
|||||||
#!/bin/bash |
|
||||||
set -e |
|
||||||
|
|
||||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" |
|
||||||
cd $DIR |
|
||||||
|
|
||||||
if [ ! -d gps-sdr-sim ]; then |
|
||||||
git clone https://github.com/osqzss/gps-sdr-sim.git |
|
||||||
cd gps-sdr-sim |
|
||||||
make |
|
||||||
cd .. |
|
||||||
fi |
|
||||||
|
|
||||||
if [ ! -d hackrf ]; then |
|
||||||
git clone https://github.com/greatscottgadgets/hackrf.git |
|
||||||
cd hackrf/host |
|
||||||
git apply ../../patches/hackrf.patch |
|
||||||
cmake . |
|
||||||
make |
|
||||||
fi |
|
||||||
|
|
||||||
@ -1,151 +0,0 @@ |
|||||||
#!/usr/bin/env python3 |
|
||||||
import os |
|
||||||
import random |
|
||||||
import argparse |
|
||||||
import datetime as dt |
|
||||||
import subprocess as sp |
|
||||||
from typing import Tuple |
|
||||||
|
|
||||||
from laika.downloader import download_nav |
|
||||||
from laika.gps_time import GPSTime |
|
||||||
from laika.helpers import ConstellationId |
|
||||||
|
|
||||||
cache_dir = '/tmp/gpstest/' |
|
||||||
|
|
||||||
|
|
||||||
def download_rinex(): |
|
||||||
# TODO: check if there is a better way to get the full brdc file for LimeGPS |
|
||||||
gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) |
|
||||||
utc_time = dt.datetime.utcnow()# - dt.timedelta(1) |
|
||||||
gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) |
|
||||||
return download_nav(gps_time, cache_dir, ConstellationId.GPS) |
|
||||||
|
|
||||||
def get_coords(lat, lon, s1, s2, o1=0, o2=0) -> Tuple[int, int]: |
|
||||||
lat_add = random.random()*s1 + o1 |
|
||||||
lon_add = random.random()*s2 + o2 |
|
||||||
|
|
||||||
lat = ((lat + lat_add + 90) % 180) - 90 |
|
||||||
lon = ((lon + lon_add + 180) % 360) - 180 |
|
||||||
return round(lat, 5), round(lon, 5) |
|
||||||
|
|
||||||
def get_continuous_coords(lat, lon) -> Tuple[int, int]: |
|
||||||
# continuously move around the world |
|
||||||
return get_coords(lat, lon, 0.01, 0.01) |
|
||||||
|
|
||||||
def get_random_coords(lat, lon) -> Tuple[int, int]: |
|
||||||
# jump around the world |
|
||||||
return get_coords(lat, lon, 20, 20, 10, 20) |
|
||||||
|
|
||||||
def run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout): |
|
||||||
while True: |
|
||||||
try: |
|
||||||
# TODO: add starttime setting and altitude |
|
||||||
# -t 2023/01/15,00:00:00 -T 2023/01/15,00:00:00 |
|
||||||
# this needs to match the date of the navigation file |
|
||||||
print(f"starting LimeGPS, Location: {lat} {lon} {alt}") |
|
||||||
cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},{alt}"] |
|
||||||
print(f"CMD: {cmd}") |
|
||||||
sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) |
|
||||||
except KeyboardInterrupt: |
|
||||||
print("stopping LimeGPS") |
|
||||||
return |
|
||||||
except sp.TimeoutExpired: |
|
||||||
print("LimeGPS timeout reached!") |
|
||||||
except Exception as e: |
|
||||||
out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member |
|
||||||
if "Device is busy." in out_stderr: |
|
||||||
print("GPS simulation is already running, Device is busy!") |
|
||||||
return |
|
||||||
|
|
||||||
print(f"LimeGPS crashed: {str(e)}") |
|
||||||
print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member |
|
||||||
return |
|
||||||
|
|
||||||
if contin_sim: |
|
||||||
lat, lon = get_continuous_coords(lat, lon) |
|
||||||
else: |
|
||||||
lat, lon = get_random_coords(lat, lon) |
|
||||||
|
|
||||||
def run_hackRF_loop(lat, lon, rinex_file, timeout): |
|
||||||
|
|
||||||
if timeout is not None: |
|
||||||
print("no jump mode for hackrf!") |
|
||||||
return |
|
||||||
|
|
||||||
try: |
|
||||||
print(f"starting gps-sdr-sim, Location: {lat},{lon}") |
|
||||||
# create 30second file and replay with hackrf endless |
|
||||||
cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},-200", "-d", "30"] |
|
||||||
sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) |
|
||||||
# created in current working directory |
|
||||||
except Exception: |
|
||||||
print("Failed to generate gpssim.bin") |
|
||||||
|
|
||||||
try: |
|
||||||
print("starting hackrf_transfer") |
|
||||||
# create 30second file and replay with hackrf endless |
|
||||||
cmd = ["hackrf/host/hackrf-tools/src/hackrf_transfer", "-t", "gpssim.bin", |
|
||||||
"-f", "1575420000", "-s", "2600000", "-a", "1", "-R"] |
|
||||||
sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) |
|
||||||
except KeyboardInterrupt: |
|
||||||
print("stopping hackrf_transfer") |
|
||||||
return |
|
||||||
except Exception as e: |
|
||||||
print(f"hackrf_transfer crashed:{str(e)}") |
|
||||||
|
|
||||||
|
|
||||||
def main(lat, lon, alt, jump_sim, contin_sim, hackrf_mode): |
|
||||||
|
|
||||||
if hackrf_mode: |
|
||||||
if not os.path.exists('hackrf'): |
|
||||||
print("hackrf not found run 'setup_hackrf.sh' first") |
|
||||||
return |
|
||||||
|
|
||||||
if not os.path.exists('gps-sdr-sim'): |
|
||||||
print("gps-sdr-sim not found run 'setup_hackrf.sh' first") |
|
||||||
return |
|
||||||
|
|
||||||
output = sp.check_output(["hackrf/host/hackrf-tools/src/hackrf_info"]) |
|
||||||
if output.strip() == b"" or b"No HackRF boards found." in output: |
|
||||||
print("No HackRF boards found!") |
|
||||||
return |
|
||||||
|
|
||||||
else: |
|
||||||
if not os.path.exists('LimeGPS'): |
|
||||||
print("LimeGPS not found run 'setup.sh' first") |
|
||||||
return |
|
||||||
|
|
||||||
if not os.path.exists('LimeSuite'): |
|
||||||
print("LimeSuite not found run 'setup.sh' first") |
|
||||||
return |
|
||||||
|
|
||||||
output = sp.check_output(["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"]) |
|
||||||
if output.strip() == b"": |
|
||||||
print("No LimeSDR device found!") |
|
||||||
return |
|
||||||
print(f"Device: {output.strip().decode('utf-8')}") |
|
||||||
|
|
||||||
if lat == 0 and lon == 0: |
|
||||||
lat, lon = get_random_coords(47.2020, 15.7403) |
|
||||||
|
|
||||||
rinex_file = download_rinex() |
|
||||||
|
|
||||||
timeout = None |
|
||||||
if jump_sim: |
|
||||||
timeout = 30 |
|
||||||
|
|
||||||
if hackrf_mode: |
|
||||||
run_hackRF_loop(lat, lon, rinex_file, timeout) |
|
||||||
else: |
|
||||||
run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout) |
|
||||||
|
|
||||||
if __name__ == "__main__": |
|
||||||
parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.") |
|
||||||
parser.add_argument("lat", type=float, nargs='?', default=0) |
|
||||||
parser.add_argument("lon", type=float, nargs='?', default=0) |
|
||||||
parser.add_argument("alt", type=float, nargs='?', default=0) |
|
||||||
parser.add_argument("--jump", action="store_true", help="signal that jumps around the world") |
|
||||||
parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world") |
|
||||||
parser.add_argument("--hackrf", action="store_true", help="hackrf mode (DEFAULT: LimeSDR)") |
|
||||||
args = parser.parse_args() |
|
||||||
main(args.lat, args.lon, args.alt, args.jump, args.contin, args.hackrf) |
|
||||||
@ -1,189 +0,0 @@ |
|||||||
#!/usr/bin/env python3 |
|
||||||
import pytest |
|
||||||
import time |
|
||||||
import unittest |
|
||||||
import struct |
|
||||||
|
|
||||||
from openpilot.common.params import Params |
|
||||||
import cereal.messaging as messaging |
|
||||||
import openpilot.system.sensord.pigeond as pd |
|
||||||
from openpilot.selfdrive.test.helpers import with_processes |
|
||||||
|
|
||||||
|
|
||||||
def read_events(service, duration_sec): |
|
||||||
service_sock = messaging.sub_sock(service, timeout=0.1) |
|
||||||
start_time_sec = time.monotonic() |
|
||||||
events = [] |
|
||||||
while time.monotonic() - start_time_sec < duration_sec: |
|
||||||
events += messaging.drain_sock(service_sock) |
|
||||||
time.sleep(0.1) |
|
||||||
|
|
||||||
assert len(events) != 0, f"No '{service}'events collected!" |
|
||||||
return events |
|
||||||
|
|
||||||
|
|
||||||
def create_backup(pigeon): |
|
||||||
# controlled GNSS stop |
|
||||||
pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74") |
|
||||||
|
|
||||||
# store almanac in flash |
|
||||||
pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") |
|
||||||
try: |
|
||||||
if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK): |
|
||||||
raise RuntimeError("Could not store almanac") |
|
||||||
except TimeoutError: |
|
||||||
pass |
|
||||||
|
|
||||||
|
|
||||||
def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int): |
|
||||||
start_time = 0 |
|
||||||
end_time = 0 |
|
||||||
events = messaging.drain_sock(socket) |
|
||||||
assert len(events) != 0, "no ublxGnss measurements" |
|
||||||
|
|
||||||
for event in events: |
|
||||||
if event.ubloxGnss.which() != "measurementReport": |
|
||||||
continue |
|
||||||
|
|
||||||
if start_time == 0: |
|
||||||
start_time = event.logMonoTime |
|
||||||
|
|
||||||
if event.ubloxGnss.measurementReport.numMeas != 0: |
|
||||||
end_time = event.logMonoTime |
|
||||||
break |
|
||||||
|
|
||||||
assert end_time != 0, "no ublox measurements received!" |
|
||||||
|
|
||||||
ttfm = (end_time - start_time)/1e9 |
|
||||||
assert ttfm < max_time, f"Time to first measurement > {max_time}s, {ttfm}" |
|
||||||
|
|
||||||
# check for satellite count in measurements |
|
||||||
sat_count = [] |
|
||||||
end_id = events.index(event)# pylint:disable=undefined-loop-variable |
|
||||||
for event in events[end_id:]: |
|
||||||
if event.ubloxGnss.which() == "measurementReport": |
|
||||||
sat_count.append(event.ubloxGnss.measurementReport.numMeas) |
|
||||||
|
|
||||||
num_sat = int(sum(sat_count)/len(sat_count)) |
|
||||||
assert num_sat >= 5, f"Not enough satellites {num_sat} (TestBox setup!)" |
|
||||||
|
|
||||||
|
|
||||||
def verify_gps_location(socket: messaging.SubSocket, max_time: int): |
|
||||||
events = messaging.drain_sock(socket) |
|
||||||
assert len(events) != 0, "no gpsLocationExternal measurements" |
|
||||||
|
|
||||||
start_time = events[0].logMonoTime |
|
||||||
end_time = 0 |
|
||||||
for event in events: |
|
||||||
gps_valid = event.gpsLocationExternal.flags % 2 |
|
||||||
|
|
||||||
if gps_valid: |
|
||||||
end_time = event.logMonoTime |
|
||||||
break |
|
||||||
|
|
||||||
assert end_time != 0, "GPS location never converged!" |
|
||||||
|
|
||||||
ttfl = (end_time - start_time)/1e9 |
|
||||||
assert ttfl < max_time, f"Time to first location > {max_time}s, {ttfl}" |
|
||||||
|
|
||||||
hacc = events[-1].gpsLocationExternal.accuracy |
|
||||||
vacc = events[-1].gpsLocationExternal.verticalAccuracy |
|
||||||
assert hacc < 20, f"Horizontal accuracy too high, {hacc}" |
|
||||||
assert vacc < 45, f"Vertical accuracy too high, {vacc}" |
|
||||||
|
|
||||||
|
|
||||||
def verify_time_to_first_fix(pigeon): |
|
||||||
# get time to first fix from nav status message |
|
||||||
nav_status = b"" |
|
||||||
while True: |
|
||||||
pigeon.send(b"\xb5\x62\x01\x03\x00\x00\x04\x0d") |
|
||||||
nav_status = pigeon.receive() |
|
||||||
if nav_status[:4] == b"\xb5\x62\x01\x03": |
|
||||||
break |
|
||||||
|
|
||||||
values = struct.unpack("<HHHIBBBBIIH", nav_status[:24]) |
|
||||||
ttff = values[8]/1000 |
|
||||||
# srms = values[9]/1000 |
|
||||||
assert ttff < 40, f"Time to first fix > 40s, {ttff}" |
|
||||||
|
|
||||||
|
|
||||||
@pytest.mark.tici |
|
||||||
class TestGPS(unittest.TestCase): |
|
||||||
@classmethod |
|
||||||
def setUpClass(cls): |
|
||||||
ublox_available = Params().get_bool("UbloxAvailable") |
|
||||||
if not ublox_available: |
|
||||||
raise unittest.SkipTest |
|
||||||
|
|
||||||
|
|
||||||
def tearDown(self): |
|
||||||
pd.set_power(False) |
|
||||||
|
|
||||||
@with_processes(['ubloxd']) |
|
||||||
def test_a_ublox_reset(self): |
|
||||||
|
|
||||||
pigeon, pm = pd.create_pigeon() |
|
||||||
pd.init_baudrate(pigeon) |
|
||||||
assert pigeon.reset_device(), "Could not reset device!" |
|
||||||
|
|
||||||
pd.initialize_pigeon(pigeon) |
|
||||||
|
|
||||||
ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) |
|
||||||
gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) |
|
||||||
|
|
||||||
# receive some messages (restart after cold start takes up to 30seconds) |
|
||||||
pd.run_receiving(pigeon, pm, 60) |
|
||||||
|
|
||||||
# store almanac for next test |
|
||||||
create_backup(pigeon) |
|
||||||
|
|
||||||
verify_ubloxgnss_data(ugs, 60) |
|
||||||
verify_gps_location(gle, 60) |
|
||||||
|
|
||||||
# skip for now, this might hang for a while |
|
||||||
#verify_time_to_first_fix(pigeon) |
|
||||||
|
|
||||||
|
|
||||||
@with_processes(['ubloxd']) |
|
||||||
def test_b_ublox_almanac(self): |
|
||||||
pigeon, pm = pd.create_pigeon() |
|
||||||
pd.init_baudrate(pigeon) |
|
||||||
|
|
||||||
# device cold start |
|
||||||
pigeon.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d") |
|
||||||
time.sleep(1) # wait for cold start |
|
||||||
pd.init_baudrate(pigeon) |
|
||||||
|
|
||||||
# clear configuration |
|
||||||
pigeon.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b") |
|
||||||
|
|
||||||
# restoring almanac backup |
|
||||||
pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") |
|
||||||
status = pigeon.wait_for_backup_restore_status() |
|
||||||
assert status == 2, "Could not restore almanac backup" |
|
||||||
|
|
||||||
pd.initialize_pigeon(pigeon) |
|
||||||
|
|
||||||
ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) |
|
||||||
gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) |
|
||||||
|
|
||||||
pd.run_receiving(pigeon, pm, 15) |
|
||||||
verify_ubloxgnss_data(ugs, 15) |
|
||||||
verify_gps_location(gle, 20) |
|
||||||
|
|
||||||
|
|
||||||
@with_processes(['ubloxd']) |
|
||||||
def test_c_ublox_startup(self): |
|
||||||
pigeon, pm = pd.create_pigeon() |
|
||||||
pd.init_baudrate(pigeon) |
|
||||||
pd.initialize_pigeon(pigeon) |
|
||||||
|
|
||||||
ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) |
|
||||||
gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) |
|
||||||
pd.run_receiving(pigeon, pm, 10) |
|
||||||
verify_ubloxgnss_data(ugs, 10) |
|
||||||
verify_gps_location(gle, 10) |
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__": |
|
||||||
unittest.main() |
|
||||||
@ -1,78 +0,0 @@ |
|||||||
#!/usr/bin/env python3 |
|
||||||
import pytest |
|
||||||
import time |
|
||||||
import unittest |
|
||||||
import subprocess as sp |
|
||||||
|
|
||||||
from openpilot.common.params import Params |
|
||||||
import cereal.messaging as messaging |
|
||||||
from openpilot.selfdrive.manager.process_config import managed_processes |
|
||||||
|
|
||||||
|
|
||||||
def exec_mmcli(cmd): |
|
||||||
cmd = "mmcli -m 0 " + cmd |
|
||||||
p = sp.Popen(cmd, shell=True, stdout=sp.PIPE, stderr=sp.PIPE) |
|
||||||
return p.communicate() |
|
||||||
|
|
||||||
|
|
||||||
def wait_for_location(socket, timeout): |
|
||||||
while True: |
|
||||||
events = messaging.drain_sock(socket) |
|
||||||
for event in events: |
|
||||||
if event.gpsLocation.flags % 2: |
|
||||||
return False |
|
||||||
|
|
||||||
timeout -= 1 |
|
||||||
if timeout <= 0: |
|
||||||
return True |
|
||||||
|
|
||||||
time.sleep(0.1) |
|
||||||
continue |
|
||||||
|
|
||||||
|
|
||||||
@pytest.mark.tici |
|
||||||
class TestGPS(unittest.TestCase): |
|
||||||
@classmethod |
|
||||||
def setUpClass(cls): |
|
||||||
ublox_available = Params().get_bool("UbloxAvailable") |
|
||||||
if ublox_available: |
|
||||||
raise unittest.SkipTest |
|
||||||
|
|
||||||
def test_a_quectel_cold_start(self): |
|
||||||
# delete assistance data to enforce cold start for GNSS |
|
||||||
# testing shows that this takes up to 20min |
|
||||||
|
|
||||||
_, err = exec_mmcli("--command='AT+QGPSDEL=0'") |
|
||||||
assert len(err) == 0, f"GPSDEL failed: {err}" |
|
||||||
|
|
||||||
managed_processes['rawgpsd'].start() |
|
||||||
start_time = time.monotonic() |
|
||||||
glo = messaging.sub_sock("gpsLocation", timeout=0.1) |
|
||||||
|
|
||||||
timeout = 10*60*3 # 3 minute |
|
||||||
timedout = wait_for_location(glo, timeout) |
|
||||||
managed_processes['rawgpsd'].stop() |
|
||||||
|
|
||||||
assert timedout is False, "Waiting for location timed out (3min)!" |
|
||||||
|
|
||||||
duration = time.monotonic() - start_time |
|
||||||
assert duration < 60, f"Received GPS location {duration}!" |
|
||||||
|
|
||||||
|
|
||||||
def test_b_quectel_startup(self): |
|
||||||
managed_processes['rawgpsd'].start() |
|
||||||
start_time = time.monotonic() |
|
||||||
glo = messaging.sub_sock("gpsLocation", timeout=0.1) |
|
||||||
|
|
||||||
timeout = 10*60 # 1 minute |
|
||||||
timedout = wait_for_location(glo, timeout) |
|
||||||
managed_processes['rawgpsd'].stop() |
|
||||||
|
|
||||||
assert timedout is False, "Waiting for location timed out (3min)!" |
|
||||||
|
|
||||||
duration = time.monotonic() - start_time |
|
||||||
assert duration < 60, f"Received GPS location {duration}!" |
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__": |
|
||||||
unittest.main() |
|
||||||
@ -0,0 +1,83 @@ |
|||||||
|
<?xml version='1.0' encoding='UTF-8'?> |
||||||
|
<root> |
||||||
|
<tabbed_widget name="Main Window" parent="main_window"> |
||||||
|
<Tab tab_name="tab1" containers="1"> |
||||||
|
<Container> |
||||||
|
<DockSplitter count="3" sizes="0.333805;0.33239;0.333805" orientation="-"> |
||||||
|
<DockArea name="..."> |
||||||
|
<plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false"> |
||||||
|
<range bottom="0.368228" right="196.811937" left="76.646983" top="32.070386"/> |
||||||
|
<limitY/> |
||||||
|
<curve name="haversine distance [m]" color="#1f77b4"/> |
||||||
|
</plot> |
||||||
|
</DockArea> |
||||||
|
<DockArea name="..."> |
||||||
|
<plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false"> |
||||||
|
<range bottom="-0.259115" right="196.811937" left="76.646983" top="12.637299"/> |
||||||
|
<limitY/> |
||||||
|
<curve name="/carState/vEgo" color="#17becf"/> |
||||||
|
<curve name="/gpsLocationExternal/speed" color="#bcbd22"/> |
||||||
|
</plot> |
||||||
|
</DockArea> |
||||||
|
<DockSplitter count="2" sizes="0.500516;0.499484" orientation="|"> |
||||||
|
<DockArea name="..."> |
||||||
|
<plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false"> |
||||||
|
<range bottom="-0.100000" right="196.811937" left="76.646983" top="0.100000"/> |
||||||
|
<limitY/> |
||||||
|
<curve name="/liveLocationKalman/positionGeodetic/std/0" color="#d62728"/> |
||||||
|
<curve name="/liveLocationKalman/positionGeodetic/std/1" color="#1ac938"/> |
||||||
|
</plot> |
||||||
|
</DockArea> |
||||||
|
<DockArea name="..."> |
||||||
|
<plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false"> |
||||||
|
<range bottom="-0.449385" right="196.811937" left="76.646983" top="7.160833"/> |
||||||
|
<limitY/> |
||||||
|
<curve name="/gpsLocationExternal/accuracy" color="#ff7f0e"/> |
||||||
|
<curve name="/gpsLocationExternal/verticalAccuracy" color="#f14cc1"/> |
||||||
|
<curve name="/gpsLocationExternal/speedAccuracy" color="#9467bd"/> |
||||||
|
</plot> |
||||||
|
</DockArea> |
||||||
|
</DockSplitter> |
||||||
|
</DockSplitter> |
||||||
|
</Container> |
||||||
|
</Tab> |
||||||
|
<currentTabIndex index="0"/> |
||||||
|
</tabbed_widget> |
||||||
|
<use_relative_time_offset enabled="1"/> |
||||||
|
<!-- - - - - - - - - - - - - - - --> |
||||||
|
<!-- - - - - - - - - - - - - - - --> |
||||||
|
<Plugins> |
||||||
|
<plugin ID="DataLoad Rlog"/> |
||||||
|
<plugin ID="Cereal Subscriber"/> |
||||||
|
</Plugins> |
||||||
|
<!-- - - - - - - - - - - - - - - --> |
||||||
|
<!-- - - - - - - - - - - - - - - --> |
||||||
|
<customMathEquations> |
||||||
|
<snippet name="haversine distance [m]"> |
||||||
|
<global>R = 6378.137 -- Radius of earth in KM</global> |
||||||
|
<function>-- Compute the Haversine distance between |
||||||
|
-- two points defined by latitude and longitude. |
||||||
|
-- Return the distance in meters |
||||||
|
lat1, lon1 = value, v1 |
||||||
|
lat2, lon2 = v2, v3 |
||||||
|
dLat = (lat2 - lat1) * math.pi / 180 |
||||||
|
dLon = (lon2 - lon1) * math.pi / 180 |
||||||
|
a = math.sin(dLat/2) * math.sin(dLat/2) + |
||||||
|
math.cos(lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) * |
||||||
|
math.sin(dLon/2) * math.sin(dLon/2) |
||||||
|
c = 2 * math.atan(math.sqrt(a), math.sqrt(1-a)) |
||||||
|
d = R * c |
||||||
|
distance = d * 1000 -- meters |
||||||
|
return distance</function> |
||||||
|
<linked_source>/gpsLocationExternal/latitude</linked_source> |
||||||
|
<additional_sources> |
||||||
|
<v1>/gpsLocationExternal/longitude</v1> |
||||||
|
<v2>/liveLocationKalman/positionGeodetic/value/0</v2> |
||||||
|
<v3>/liveLocationKalman/positionGeodetic/value/1</v3> |
||||||
|
</additional_sources> |
||||||
|
</snippet> |
||||||
|
</customMathEquations> |
||||||
|
<snippets/> |
||||||
|
<!-- - - - - - - - - - - - - - - --> |
||||||
|
</root> |
||||||
|
|
||||||
@ -1,25 +1,21 @@ |
|||||||
import os |
Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') |
||||||
Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', |
|
||||||
'cereal', 'transformations') |
|
||||||
|
|
||||||
base_frameworks = qt_env['FRAMEWORKS'] |
base_frameworks = qt_env['FRAMEWORKS'] |
||||||
base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', |
base_libs = [common, messaging, cereal, visionipc, 'zmq', |
||||||
'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] |
'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] |
||||||
|
|
||||||
if arch == "Darwin": |
if arch == "Darwin": |
||||||
base_frameworks.append('OpenCL') |
base_frameworks.append('OpenCL') |
||||||
else: |
else: |
||||||
base_libs.append('OpenCL') |
base_libs.append('OpenCL') |
||||||
|
|
||||||
qt_libs = ['qt_util'] + base_libs |
|
||||||
qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] |
qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] |
||||||
|
|
||||||
replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] |
replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] |
||||||
|
replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) |
||||||
replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks) |
|
||||||
Export('replay_lib') |
Export('replay_lib') |
||||||
replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs |
replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs |
||||||
qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) |
qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) |
||||||
|
|
||||||
if GetOption('extras'): |
if GetOption('extras'): |
||||||
qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs]) |
qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, base_libs]) |
||||||
|
|||||||
Loading…
Reference in new issue