115 lines
4.1 KiB
Python
115 lines
4.1 KiB
Python
import pytest
|
|
import json
|
|
import os
|
|
import random
|
|
import subprocess
|
|
import time
|
|
import capnp
|
|
from pathlib import Path
|
|
|
|
import iqpilot.cereal.messaging as messaging
|
|
from iqpilot.cereal.services import SERVICE_LIST
|
|
from iqpilot.common.params import Params
|
|
from iqpilot.common.transformations.coordinates import ecef2geodetic
|
|
from iqpilot.common.basedir import BASEDIR
|
|
|
|
|
|
@pytest.mark.linux
|
|
class TestIQLocdProc:
|
|
LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'extrinsicsCalibration',
|
|
'accelerometer', 'gyroscope']
|
|
|
|
@pytest.fixture(autouse=True)
|
|
def setup_iqlocd(self, openpilot_function_fixture):
|
|
self.pm = messaging.PubMaster(self.LLD_MSGS)
|
|
self.sm = messaging.SubMaster(['iqLiveLocation'])
|
|
self.params = Params()
|
|
assert self.params.get_param_path().endswith(os.environ['OPENPILOT_PREFIX'])
|
|
self.params.put_bool("UbloxAvailable", True)
|
|
iqlocd_dir = Path(BASEDIR) / 'iqpilot/selfdrive/iqlocd'
|
|
self.proc = subprocess.Popen(['./iqlocd'], cwd=iqlocd_dir, env=os.environ.copy())
|
|
yield
|
|
self.proc.terminate()
|
|
self.proc.wait(timeout=5)
|
|
|
|
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":
|
|
gps = getattr(msg, name)
|
|
gps.flags = 1
|
|
gps.hasFix = True
|
|
gps.source = 'ublox'
|
|
gps.horizontalAccuracy = 1.0
|
|
gps.verticalAccuracy = 1.0
|
|
gps.speedAccuracy = 1.0
|
|
gps.bearingAccuracyDeg = 1.0
|
|
gps.vNED = [0.0, 0.0, 0.0]
|
|
gps.latitude = float(self.lat)
|
|
gps.longitude = float(self.lon)
|
|
gps.unixTimestampMillis = t // 1_000_000
|
|
gps.altitude = float(self.alt)
|
|
elif name == 'cameraOdometry':
|
|
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.rotStd = [0.01, 0.01, 0.01]
|
|
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.transStd = [0.01, 0.01, 0.01]
|
|
elif name == 'extrinsicsCalibration':
|
|
msg.extrinsicsCalibration.calStatus = 'calibrated'
|
|
msg.extrinsicsCalibration.rpyCalib = [0.0, 0.0, 0.0]
|
|
elif name == 'accelerometer':
|
|
msg.accelerometer.sensor = 1
|
|
msg.accelerometer.type = 1
|
|
msg.accelerometer.timestamp = t
|
|
msg.accelerometer.init('acceleration').v = [0.0, 0.0, 9.81]
|
|
elif name == 'gyroscope':
|
|
msg.gyroscope.sensor = 5
|
|
msg.gyroscope.type = 16
|
|
msg.gyroscope.timestamp = t
|
|
msg.gyroscope.init('gyroUncalibrated').v = [0.0, 0.0, 0.0]
|
|
msg.logMonoTime = t
|
|
msg.valid = True
|
|
return msg
|
|
|
|
def test_params_gps(self):
|
|
random.seed(123489234)
|
|
self.params.remove('LastGPSPositionIQLoc')
|
|
|
|
self.x = -2710700 + (random.random() * 1e5)
|
|
self.y = -4280600 + (random.random() * 1e5)
|
|
self.z = 3850300 + (random.random() * 1e5)
|
|
self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
|
|
msgs = []
|
|
for sec in range(1, 4):
|
|
for name in self.LLD_MSGS:
|
|
for j in range(int(SERVICE_LIST[name].frequency)):
|
|
msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))
|
|
|
|
for msg in sorted(msgs, key=lambda x: x.logMonoTime):
|
|
self.pm.send(msg.which(), msg)
|
|
if msg.which() == "cameraOdometry":
|
|
self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
|
|
self.sm.update(0)
|
|
time.sleep(0.001)
|
|
deadline = time.monotonic() + 5.0
|
|
last_gps_raw = None
|
|
while time.monotonic() < deadline and last_gps_raw is None:
|
|
last_gps_raw = self.params.get('LastGPSPositionIQLoc')
|
|
self.sm.update(0)
|
|
time.sleep(0.05)
|
|
assert self.proc.poll() is None
|
|
location = self.sm['iqLiveLocation']
|
|
assert last_gps_raw is not None, {
|
|
'gpsHealthy': location.gpsHealthy,
|
|
'inputsHealthy': location.inputsHealthy,
|
|
'sensorsHealthy': location.sensorsHealthy,
|
|
'isolatedPath': self.params.get_param_path(),
|
|
}
|
|
lastGPS = json.loads(last_gps_raw)
|
|
assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001)
|
|
assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001)
|
|
assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.2)
|