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124 lines
4.0 KiB
124 lines
4.0 KiB
#!/usr/bin/env python3
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import os
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import pytest
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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 cereal.messaging as messaging
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from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
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from openpilot.selfdrive.manager.process_config import managed_processes
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GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
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@pytest.mark.tici
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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 start systemd-resolved")
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os.system("sudo systemctl restart ModemManager lte")
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wait_for_modem()
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@classmethod
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def tearDownClass(cls):
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managed_processes['qcomgpsd'].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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self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
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def tearDown(self):
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managed_processes['qcomgpsd'].stop()
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os.system("sudo systemctl restart systemd-resolved")
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def _wait_for_output(self, t):
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dt = 0.1
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for _ in range(t*int(1/dt)):
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self.sm.update(0)
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if self.sm.updated['qcomGnss']:
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break
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time.sleep(dt)
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return self.sm.updated['qcomGnss']
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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")
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managed_processes['qcomgpsd'].start()
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assert not self._wait_for_output(5)
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os.system("sudo systemctl restart ModemManager")
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assert self._wait_for_output(30)
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def test_startup_time(self):
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for internet in (True, False):
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if not internet:
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os.system("sudo systemctl stop systemd-resolved")
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with self.subTest(internet=internet):
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managed_processes['qcomgpsd'].start()
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assert self._wait_for_output(7)
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managed_processes['qcomgpsd'].stop()
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def test_turns_off_gnss(self):
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for s in (0.1, 1, 5):
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with self.subTest(runtime=s):
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managed_processes['qcomgpsd'].start()
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time.sleep(s)
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managed_processes['qcomgpsd'].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['qcomgpsd'].start()
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assert self._wait_for_output(10)
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managed_processes['qcomgpsd'].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['qcomgpsd'].start()
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assert self._wait_for_output(10)
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managed_processes['qcomgpsd'].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['qcomgpsd'].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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time.sleep(15)
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managed_processes['qcomgpsd'].stop()
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self.check_assistance(True)
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if __name__ == "__main__":
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unittest.main(failfast=True)
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