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split locationd and liblocationd tests (#24977)

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* laikad: use cython version of gnss kf

* fix import error

* test liblocationd separate

* Revert "laikad: use cython version of gnss kf"

This reverts commit bdd769b955.
old-commit-hash: b95e687782
taco
Willem Melching 3 years ago committed by GitHub
parent c88c78a13b
commit 88a90035cf
3 changed files with 108 additions and 95 deletions
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  1. 3
      .github/workflows/selfdrive_tests.yaml
  2. 106
      selfdrive/locationd/test/_test_locationd_lib.py
  3. 94
      selfdrive/locationd/test/test_locationd.py

3
.github/workflows/selfdrive_tests.yaml
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@ -299,6 +299,7 @@ jobs:
$UNIT_TEST selfdrive/loggerd && \ $UNIT_TEST selfdrive/loggerd && \
$UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/car && \
$UNIT_TEST selfdrive/locationd && \ $UNIT_TEST selfdrive/locationd && \
selfdrive/locationd/test/_test_locationd_lib.py && \
$UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/athena && \
$UNIT_TEST selfdrive/thermald && \ $UNIT_TEST selfdrive/thermald && \
$UNIT_TEST selfdrive/hardware/tici && \ $UNIT_TEST selfdrive/hardware/tici && \
@ -364,7 +365,7 @@ jobs:
CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov" - name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2 uses: codecov/codecov-action@v2
model_replay_onnx: model_replay_onnx:
name: model replay onnx name: model replay onnx
runs-on: ubuntu-20.04 runs-on: ubuntu-20.04

106
selfdrive/locationd/test/_test_locationd_lib.py
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@ -0,0 +1,106 @@
#!/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
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)
if __name__ == "__main__":
unittest.main()

94
selfdrive/locationd/test/test_locationd.py
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@ -1,110 +1,16 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os
import json import json
import random import random
import unittest import unittest
import time import time
import capnp import capnp
from cffi import FFI
from cereal import log
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal.services import service_list from cereal.services import service_list
from common.params import Params from common.params import Params
from selfdrive.manager.process_config import managed_processes 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): class TestLocationdProc(unittest.TestCase):
MAX_WAITS = 1000 MAX_WAITS = 1000

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