185 lines
6.5 KiB
Python
Executable File
185 lines
6.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import json
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import random
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import unittest
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import time
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import capnp
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from cffi import FFI
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from cereal import log
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import cereal.messaging as messaging
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from cereal.services import service_list
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from common.params import Params
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from selfdrive.manager.process_config import managed_processes
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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.so'))
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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();
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void localizer_get_message_bytes(Localizer_t localizer, uint64_t logMonoTime, 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()
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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, t, 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('sensorEvents', 1)
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msg.sensorEvents[0].sensor = 1
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msg.sensorEvents[0].timestamp = msg.logMonoTime
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msg.sensorEvents[0].type = 1
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msg.sensorEvents[0].init('acceleration')
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msg.sensorEvents[0].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('sensorEvents', 1)
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msg.sensorEvents[0].sensor = 1
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msg.sensorEvents[0].timestamp = msg.logMonoTime
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msg.sensorEvents[0].type = 1
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msg.sensorEvents[0].init('acceleration')
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msg.sensorEvents[0].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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class TestLocationdProc(unittest.TestCase):
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MAX_WAITS = 1000
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LLD_MSGS = {'gpsLocationExternal', 'cameraOdometry', 'carState', 'sensorEvents', 'liveCalibration'}
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def setUp(self):
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random.seed(123489234)
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self.pm = messaging.PubMaster(self.LLD_MSGS)
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managed_processes['locationd'].prepare()
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managed_processes['locationd'].start()
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time.sleep(1)
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def tearDown(self):
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managed_processes['locationd'].stop()
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def send_msg(self, msg):
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self.pm.send(msg.which(), msg)
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waits_left = self.MAX_WAITS
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while waits_left and not self.pm.all_readers_updated(msg.which()):
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time.sleep(0)
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waits_left -= 1
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time.sleep(0.0001)
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def get_fake_msg(self, name, t):
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try:
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msg = messaging.new_message(name)
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except capnp.lib.capnp.KjException:
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msg = messaging.new_message(name, 0)
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if name == "gpsLocationExternal":
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msg.gpsLocationExternal.flags = 1
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msg.gpsLocationExternal.verticalAccuracy = 1.0
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msg.gpsLocationExternal.speedAccuracy = 1.0
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msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
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msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
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msg.gpsLocationExternal.latitude = self.lat
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msg.gpsLocationExternal.longitude = self.lon
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msg.gpsLocationExternal.altitude = self.alt
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elif name == 'cameraOdometry':
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msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
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msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
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msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
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msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
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msg.logMonoTime = t
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return msg
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def test_params_gps(self):
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# first reset params
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Params().delete('LastGPSPosition')
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self.lat = 30 + (random.random() * 10.0)
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self.lon = -70 + (random.random() * 10.0)
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self.alt = 5 + (random.random() * 10.0)
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self.fake_duration = 90 # secs
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# get fake messages at the correct frequency, listed in services.py
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fake_msgs = []
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for sec in range(self.fake_duration):
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for name in self.LLD_MSGS:
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for j in range(int(service_list[name].frequency)):
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fake_msgs.append(self.get_fake_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
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for fake_msg in sorted(fake_msgs, key=lambda x: x.logMonoTime):
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self.send_msg(fake_msg)
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time.sleep(1) # wait for async params write
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lastGPS = json.loads(Params().get('LastGPSPosition'))
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self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3)
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self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3)
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self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3)
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if __name__ == "__main__":
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unittest.main()
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