#!/usr/bin/env python3
import json
import random
import unittest
import time
import capnp
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
from openpilot.common.params import Params
from openpilot.common.transformations.coordinates import ecef2geodetic
from openpilot.selfdrive.manager.process_config import managed_processes
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class TestLocationdProc(unittest.TestCase):
LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
'accelerometer', 'gyroscope', 'magnetometer']
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def setUp(self):
random.seed(123489234)
self.pm = messaging.PubMaster(self.LLD_MSGS)
self.params = Params()
self.params.put_bool("UbloxAvailable", True)
managed_processes['locationd'].prepare()
managed_processes['locationd'].start()
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def tearDown(self):
managed_processes['locationd'].stop()
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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":
msg.gpsLocationExternal.flags = 1
msg.gpsLocationExternal.hasFix = True
msg.gpsLocationExternal.verticalAccuracy = 1.0
msg.gpsLocationExternal.speedAccuracy = 1.0
msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
msg.gpsLocationExternal.latitude = float(self.lat)
msg.gpsLocationExternal.longitude = float(self.lon)
msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
msg.gpsLocationExternal.altitude = float(self.alt)
#if name == "gnssMeasurements":
# msg.gnssMeasurements.measTime = t
# msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
# msg.gnssMeasurements.positionECEF.std = [0,0,0]
# msg.gnssMeasurements.positionECEF.valid = True
# msg.gnssMeasurements.velocityECEF.value = []
# msg.gnssMeasurements.velocityECEF.std = [0,0,0]
# msg.gnssMeasurements.velocityECEF.valid = True
elif name == 'cameraOdometry':
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
msg.logMonoTime = t
msg.valid = True
return msg
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def test_params_gps(self):
self.params.remove('LastGPSPosition')
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])
# get fake messages at the correct frequency, listed in services.py
msgs = []
for sec in range(65):
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)
time.sleep(1) # wait for async params write
lastGPS = json.loads(self.params.get('LastGPSPosition'))
self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3)
self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3)
self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3)
if __name__ == "__main__":
unittest.main()