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109 lines
2.9 KiB
109 lines
2.9 KiB
#!/usr/bin/env python3
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import time
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import unittest
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import subprocess as sp
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from common.params import Params
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from system.hardware import TICI
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import cereal.messaging as messaging
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from selfdrive.manager.process_config import managed_processes
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def exec_mmcli(cmd):
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cmd = "mmcli -m 0 " + cmd
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p = sp.Popen(cmd, shell=True, stdout=sp.PIPE, stderr=sp.PIPE)
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return p.communicate()
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def wait_for_location(socket, timeout):
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while True:
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events = messaging.drain_sock(socket)
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for event in events:
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if event.gpsLocation.flags % 2:
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return False
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timeout -= 1
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if timeout <= 0:
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return True
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time.sleep(0.1)
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continue
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class TestGPS(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if not TICI:
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raise unittest.SkipTest
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ublox_available = Params().get_bool("UbloxAvailable")
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if ublox_available:
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raise unittest.SkipTest
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@unittest.skip("Skip cold start test due to time")
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def test_quectel_cold_start(self):
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# delete assistance data to enforce cold start for GNSS
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# testing shows that this takes up to 20min
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# invalidate supl setting, cannot be reset
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_, err = exec_mmcli("--location-set-supl-server=unittest:1")
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_, err = exec_mmcli("--command='AT+QGPSDEL=0'")
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assert len(err) == 0, f"GPSDEL failed: {err}"
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managed_processes['rawgpsd'].start()
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start_time = time.monotonic()
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glo = messaging.sub_sock("gpsLocation", timeout=0.1)
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timeout = 10*60*25 # 25 minute
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timedout = wait_for_location(glo, timeout)
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managed_processes['rawgpsd'].stop()
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assert timedout is False, "Waiting for location timed out (25min)!"
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duration = time.monotonic() - start_time
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assert duration < 50, f"Received GPS location {duration}!"
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def test_a_quectel_cold_start_AGPS(self):
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_, err = exec_mmcli("--command='AT+QGPSDEL=0'")
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assert len(err) == 0, f"GPSDEL failed: {err}"
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# setup AGPS
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exec_mmcli("--location-set-supl-server=supl.google.com:7276")
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managed_processes['rawgpsd'].start()
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start_time = time.monotonic()
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glo = messaging.sub_sock("gpsLocation", timeout=0.1)
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timeout = 10*60*3 # 3 minute
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timedout = wait_for_location(glo, timeout)
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managed_processes['rawgpsd'].stop()
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assert timedout is False, "Waiting for location timed out (3min)!"
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duration = time.monotonic() - start_time
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assert duration < 60, f"Received GPS location {duration}!"
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def test_b_quectel_startup(self):
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# setup AGPS
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exec_mmcli("--location-set-supl-server=supl.google.com:7276")
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managed_processes['rawgpsd'].start()
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start_time = time.monotonic()
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glo = messaging.sub_sock("gpsLocation", timeout=0.1)
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timeout = 10*60*3 # 3 minute
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timedout = wait_for_location(glo, timeout)
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managed_processes['rawgpsd'].stop()
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assert timedout is False, "Waiting for location timed out (3min)!"
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duration = time.monotonic() - start_time
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assert duration < 60, f"Received GPS location {duration}!"
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if __name__ == "__main__":
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unittest.main()
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