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115 lines
3.9 KiB
115 lines
3.9 KiB
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 selfdrive.test.openpilotci import get_url
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from tools.lib.logreader import LogReader
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from 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()
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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)
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np.testing.assert_allclose(mean_fix, [-2452306.662377, -4778343.136806, 3428550.090557], rtol=0, atol=1)
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# Note that can happen that there are less corrected measurements compared to processed when they are invalid.
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# However, not for the current segment
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self.assertEqual(position_fix_found, self.NUM_TEST_PROCESS_MEAS)
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self.assertEqual(position_fix_found_after_correcting, self.NUM_TEST_PROCESS_MEAS)
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self.assertEqual(count_processed_measurements, 69)
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self.assertEqual(count_corrected_measurements, 69)
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@with_processes(['ubloxd'])
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def test_ublox_gps_cutover(self):
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time.sleep(2)
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ugs = messaging.sub_sock("ubloxGnss", timeout=0.1)
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ur_pm = messaging.PubMaster(['ubloxRaw'])
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def replay_segment():
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rcv_msgs = []
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for msg in self.ublox_raw:
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ur_pm.send(msg.which(), msg.as_builder())
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time.sleep(0.01)
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rcv_msgs += messaging.drain_sock(ugs)
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time.sleep(0.1)
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rcv_msgs += messaging.drain_sock(ugs)
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return rcv_msgs
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# replay twice to enforce cutover data on rewind
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rcv_msgs = replay_segment()
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rcv_msgs += replay_segment()
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ephems_cnt = sum(m.ubloxGnss.which() == 'ephemeris' for m in rcv_msgs)
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self.assertEqual(ephems_cnt, 15)
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if __name__ == "__main__":
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unittest.main()
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