mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-09-28 18:33:50 +08:00
Kurt Nistelberger
fb06d2769f
* PoC of reading sensors via interrupts instead of polling
* add Gyro and draft for magn
* add more functionality to gpio.cc
* change LSM gyro to interrupt
* resolve rebase conflict
* update BMX accel interrupt impl
* add interrupt collector thread to fetch in parallel
* change get_event interface to return true on successful read
* update BMX gyro interrupt impl
* update gpio.h/.cc according to comments
* address comments, rename Edgetype enum
* Edgetype to EdgeType
* update sensor interrupt interface
* add error handling, and read fd on trigger
* avoid sending empty messages
* fix build
* use gpiochip
* less diff
* gpiochip on both edges, but skip falling edge if rising edge is detected
* init last_ts with 0
* update sensord testcases
* update sensord testsweet
* test for pipeline
* readd with_process
* add null check
* move tests update to seperate PR
* sensord: improve test coverage (#25683)
* update sensord-interrupt testsweet
* address review comments
* inc stddev threshold
* fix format string
* add version 0 check again
* relax strictness after c3 with bmx tests
* relax strictness after tests
Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
* address PR comments
* fix typo
* remove 4ms limit, and skip first 0.5sec of data
* revert disable_interuppt change to destructor
* fix and remove timing skip
* make gpiochip generic
* sensord port
* change from sensorEvents to separated events
* fix gyro usage
* add splitted sensor tests
* modify debug script sensor_data_to_hist.py
* refactor get_event interface to remove sensorEvent message type
* update locationd to non sensorEvent usage
* tmp commit
* fix replay
* fix accelerometer type
* fix sensor to hist debug script
* update sensord tests to split events
* remove rebase artifacts
* port test_sensord.py
* small clean up
* change cereal to sensorEvents-splitup branch
* upate sensorEvents in regen
* fix route generation for splitted sensor events
* regen cleanUp from sensorEvents change
* .
* remove light and temp from locationd
* add generic init delay per sensor
* .
* update routes
* move bmx gyro/accel to its own channel
* adopt sensor tests to bmx channel
* remove rebase artifacts
* fix sensord test
* handle bmx not present
* add bmx sockets to regen
* .
* .
* code cleanUp
* .
* address PR comments
* address PR comments
* address PR comments
* lsm clean up
* readd sensorEvents
* rever regen.py
* .
* update replay refs
* move channels
* fix artifact
* bump cereal
* update refs
* fix timing issue
Co-authored-by: Bruce Wayne <batman@workstation-eu-intern2.eu.local>
Co-authored-by: gast04 <kurt.nistelberger@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 29d3ed2ce6
92 lines
2.8 KiB
Python
Executable File
92 lines
2.8 KiB
Python
Executable File
#!/usr/bin/env python3
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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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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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class TestLocationdProc(unittest.TestCase):
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MAX_WAITS = 1000
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LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
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'accelerometer', 'gyroscope', 'magnetometer']
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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().remove('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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