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