laikad: unit test refactor (#28295)

Refactor laika tests to use replay_process
old-commit-hash: 1f0ff21eee457f635059325bdcde61fc1bc6f0b4

selfdrive/locationd/test/test_laikad.py

@@ -2,12 +2,9 @@
 import time
 import unittest
 from cereal import log
-import cereal.messaging as messaging
 from common.params import Params
 from datetime import datetime
 from unittest import mock
-#from unittest.mock import patch
-from tqdm import tqdm
 
 
 from laika.constants import SECS_IN_DAY
@@ -19,45 +16,22 @@ from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom
 from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
-from selfdrive.manager.process_config import managed_processes
 
-from selfdrive.test.process_replay.helpers import OpenpilotPrefix
+from selfdrive.test.process_replay.process_replay import get_process_config, replay_process
+
+GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
 
 
-def get_ublox_gnss(ubloxraw):
-  with OpenpilotPrefix():
-    managed_processes['ubloxd'].start()
-    timeout_ms = 30
-    pm = messaging.PubMaster(['ubloxRaw'])
-    sock = messaging.sub_sock('ubloxGnss', timeout=timeout_ms)
-
-    log_msgs = []
-    log_t = []
-    for x in tqdm(ubloxraw):
-      pm.send(x.which(), x.as_builder())
-      ret = messaging.recv_one(sock)
-      if ret is not None:
-        msg = log.Event.new_message(ubloxGnss=ret.ubloxGnss.to_dict())
-        msg.logMonoTime = x.logMonoTime
-        log_msgs.append(msg)
-        log_t.append(1e-9 * x.logMonoTime)
-    assert managed_processes['ubloxd'].get_process_state_msg().running
-    assert len(log_msgs) > 1 or len(ubloxraw) == 0
-    managed_processes['ubloxd'].stop()
-  return log_t, log_msgs
-
-
-
-def get_log(segs=range(0)):
+def get_log_ublox(segs=range(0)):
   logs = []
   for i in segs:
     logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i)))
 
-  raw_logs = [m for m in logs if m.which() == 'ubloxRaw']
-  all_logs = get_ublox_gnss(raw_logs)[1]
+  ublox_cfg = get_process_config("ubloxd")
+  all_logs = replay_process(ublox_cfg, logs)
   low_gnss = []
   for m in all_logs:
-    if m.ubloxGnss.which() != 'measurementReport':
+    if m.which() != "ubloxGnss" or m.ubloxGnss.which() != 'measurementReport':
       continue
 
     MAX_MEAS = 7
@@ -72,6 +46,7 @@ def get_log(segs=range(0)):
       low_gnss.append(m)
   return all_logs, low_gnss
 
+
 def get_log_qcom(segs=range(0)):
   logs = []
   for i in segs:
@@ -79,13 +54,16 @@ def get_log_qcom(segs=range(0)):
   all_logs = [m for m in logs if m.which() == 'qcomGnss']
   return all_logs
 
+
 def verify_messages(lr, laikad, return_one_success=False):
   good_msgs = []
   for m in lr:
     if m.which() == 'ubloxGnss':
       gnss_msg = m.ubloxGnss
-    else:
+    elif m.which() == 'qcomGnss':
       gnss_msg = m.qcomGnss
+    else:
+      continue
     msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True)
     if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
@@ -101,7 +79,7 @@ def get_first_gps_time(logs):
         new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
         if len(new_meas) > 0:
           return new_meas[0].recv_time
-    else:
+    elif m.which() == "qcomGnss":
       if m.qcomGnss.which == 'measurementReport':
         new_meas = read_raw_qcom(m.qcomGnss.measurementReport)
         if len(new_meas) > 0:
@@ -116,14 +94,11 @@ def get_measurement_mock(gpstime, sat_ephemeris):
   return meas
 
 
-GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
-
-
 class TestLaikad(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    logs, low_gnss = get_log(range(1))
+    logs, low_gnss = get_log_ublox(range(1))
     cls.logs = logs
     cls.low_gnss = low_gnss
     cls.logs_qcom = get_log_qcom(range(1))
@@ -190,6 +165,9 @@ class TestLaikad(unittest.TestCase):
     self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
     kf_valid = False
     for m in self.logs:
+      if m.which() != 'ubloxGnss':
+        continue
+
       laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
       kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
       if kf_valid:
@@ -247,6 +225,9 @@ class TestLaikad(unittest.TestCase):
         seen_internet_eph = False
 
         for m in logs:
+          if m.which() != 'ubloxGnss' and m.which() != 'qcomGnss':
+            continue
+
           gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss
           out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False)
           if laikad.orbit_fetch_future is not None:
@@ -301,8 +282,6 @@ class TestLaikad(unittest.TestCase):
       self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses]))
       self.assertIsNotNone(msg)
 
-
-
       #TODO test cache with only orbits 
       #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
       #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
@@ -333,5 +312,7 @@ class TestLaikad(unittest.TestCase):
   def dict_has_values(self, dct):
     self.assertGreater(len(dct), 0)
     self.assertGreater(min([len(v) for v in dct.values()]), 0)
+
+
 if __name__ == "__main__":
   unittest.main()