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108 lines
3.9 KiB
108 lines
3.9 KiB
#!/usr/bin/env python3
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"""This test can't be run together with other locationd tests.
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cffi.dlopen breaks the list of registered filters."""
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import os
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import random
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import unittest
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from cffi import FFI
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import cereal.messaging as messaging
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from cereal import log
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from common.ffi_wrapper import suffix
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SENSOR_DECIMATION = 1
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VISION_DECIMATION = 1
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LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
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class TestLocationdLib(unittest.TestCase):
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def setUp(self):
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header = '''typedef ...* Localizer_t;
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Localizer_t localizer_init(bool has_ublox);
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void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
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void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
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self.ffi = FFI()
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self.ffi.cdef(header)
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self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
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self.localizer = self.lib.localizer_init(True) # default to ublox
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self.buff_size = 2048
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self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
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def localizer_handle_msg(self, msg_builder):
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bytstr = msg_builder.to_bytes()
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self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
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def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
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self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
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return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
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def test_liblocalizer(self):
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msg = messaging.new_message('liveCalibration')
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msg.liveCalibration.validBlocks = random.randint(1, 10)
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msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
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self.localizer_handle_msg(msg)
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liveloc = self.localizer_get_msg()
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self.assertTrue(liveloc is not None)
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@unittest.skip("temporarily disabled due to false positives")
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def test_device_fell(self):
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msg = messaging.new_message('accelerometer')
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msg.accelerometer.sensor = 1
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msg.accelerometer.timestamp = msg.logMonoTime
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msg.accelerometer.type = 1
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msg.accelerometer.init('acceleration')
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msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0] # zero with gravity
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self.localizer_handle_msg(msg)
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ret = self.localizer_get_msg()
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self.assertTrue(ret.liveLocationKalman.deviceStable)
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msg = messaging.new_message('accelerometer')
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msg.accelerometer.sensor = 1
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msg.accelerometer.timestamp = msg.logMonoTime
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msg.accelerometer.type = 1
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msg.accelerometer.init('acceleration')
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msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2
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self.localizer_handle_msg(msg)
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ret = self.localizer_get_msg()
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self.assertFalse(ret.liveLocationKalman.deviceStable)
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def test_posenet_spike(self):
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for _ in range(SENSOR_DECIMATION):
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msg = messaging.new_message('carState')
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msg.carState.vEgo = 6.0 # more than 5 m/s
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self.localizer_handle_msg(msg)
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ret = self.localizer_get_msg()
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self.assertTrue(ret.liveLocationKalman.posenetOK)
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for _ in range(20 * VISION_DECIMATION): # size of hist_old
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msg = messaging.new_message('cameraOdometry')
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msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
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msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
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msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
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msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
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self.localizer_handle_msg(msg)
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for _ in range(20 * VISION_DECIMATION): # size of hist_new
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msg = messaging.new_message('cameraOdometry')
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msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
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msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
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msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
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msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger
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self.localizer_handle_msg(msg)
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ret = self.localizer_get_msg()
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self.assertFalse(ret.liveLocationKalman.posenetOK)
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if __name__ == "__main__":
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unittest.main()
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