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78 lines
1.9 KiB
78 lines
1.9 KiB
#!/usr/bin/env python3
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import time
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import unittest
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import cereal.messaging as messaging
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from selfdrive.hardware import TICI
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from selfdrive.test.helpers import with_processes
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TEST_TIMESPAN = 10
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SENSOR_CONFIGURATIONS = (
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{
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('bmx055', 'acceleration'),
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('bmx055', 'gyroUncalibrated'),
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('bmx055', 'magneticUncalibrated'),
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('bmx055', 'temperature'),
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('lsm6ds3', 'acceleration'),
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('lsm6ds3', 'gyroUncalibrated'),
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('lsm6ds3', 'temperature'),
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('rpr0521', 'light'),
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},
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{
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('lsm6ds3', 'acceleration'),
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('lsm6ds3', 'gyroUncalibrated'),
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('lsm6ds3', 'temperature'),
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('mmc5603nj', 'magneticUncalibrated'),
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('rpr0521', 'light'),
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},
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{
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('bmx055', 'acceleration'),
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('bmx055', 'gyroUncalibrated'),
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('bmx055', 'magneticUncalibrated'),
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('bmx055', 'temperature'),
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('lsm6ds3trc', 'acceleration'),
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('lsm6ds3trc', 'gyroUncalibrated'),
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('lsm6ds3trc', 'temperature'),
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('rpr0521', 'light'),
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},
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{
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('lsm6ds3trc', 'acceleration'),
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('lsm6ds3trc', 'gyroUncalibrated'),
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('lsm6ds3trc', 'temperature'),
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('mmc5603nj', 'magneticUncalibrated'),
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('rpr0521', 'light'),
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},
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)
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class TestSensord(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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@with_processes(['sensord'])
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def test_sensors_present(self):
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sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1)
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start_time_sec = time.time()
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events = []
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while time.time() - start_time_sec < TEST_TIMESPAN:
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events += messaging.drain_sock(sensor_events)
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time.sleep(0.01)
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seen = set()
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for event in events:
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for measurement in event.sensorEvents:
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# Filter out unset events
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if measurement.version == 0:
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continue
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seen.add((str(measurement.source), measurement.which()))
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self.assertIn(seen, SENSOR_CONFIGURATIONS)
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if __name__ == "__main__":
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unittest.main()
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