You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
56 lines
2.0 KiB
56 lines
2.0 KiB
import capnp
|
|
|
|
import cereal.messaging as messaging
|
|
from openpilot.common.params import Params
|
|
|
|
from openpilot.system.manager.process_config import managed_processes
|
|
|
|
|
|
class TestLocationdProc:
|
|
LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
|
|
'accelerometer', 'gyroscope', 'magnetometer']
|
|
|
|
def setup_method(self):
|
|
self.pm = messaging.PubMaster(self.LLD_MSGS)
|
|
|
|
self.params = Params()
|
|
self.params.put_bool("UbloxAvailable", True)
|
|
managed_processes['locationd'].prepare()
|
|
managed_processes['locationd'].start()
|
|
|
|
def teardown_method(self):
|
|
managed_processes['locationd'].stop()
|
|
|
|
def get_msg(self, name, t):
|
|
try:
|
|
msg = messaging.new_message(name)
|
|
except capnp.lib.capnp.KjException:
|
|
msg = messaging.new_message(name, 0)
|
|
|
|
if name == "gpsLocationExternal":
|
|
msg.gpsLocationExternal.flags = 1
|
|
msg.gpsLocationExternal.hasFix = True
|
|
msg.gpsLocationExternal.verticalAccuracy = 1.0
|
|
msg.gpsLocationExternal.speedAccuracy = 1.0
|
|
msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
|
|
msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
|
|
msg.gpsLocationExternal.latitude = float(self.lat)
|
|
msg.gpsLocationExternal.longitude = float(self.lon)
|
|
msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
|
|
msg.gpsLocationExternal.altitude = float(self.alt)
|
|
#if name == "gnssMeasurements":
|
|
# msg.gnssMeasurements.measTime = t
|
|
# msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
|
|
# msg.gnssMeasurements.positionECEF.std = [0,0,0]
|
|
# msg.gnssMeasurements.positionECEF.valid = True
|
|
# msg.gnssMeasurements.velocityECEF.value = []
|
|
# msg.gnssMeasurements.velocityECEF.std = [0,0,0]
|
|
# msg.gnssMeasurements.velocityECEF.valid = True
|
|
elif name == 'cameraOdometry':
|
|
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
|
|
msg.logMonoTime = t
|
|
msg.valid = True
|
|
return msg
|
|
|