mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-08 07:02:06 +08:00
Adeeb Shihadeh
120 lines
4.0 KiB
Python
120 lines
4.0 KiB
Python
import os
|
|
import pytest
|
|
import time
|
|
import datetime
|
|
|
|
import cereal.messaging as messaging
|
|
from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
|
|
from openpilot.system.manager.process_config import managed_processes
|
|
|
|
GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
|
|
|
|
|
|
@pytest.mark.tici
|
|
class TestRawgpsd:
|
|
@classmethod
|
|
def setup_class(cls):
|
|
os.environ['GPS_COLD_START'] = '1'
|
|
os.system("sudo systemctl start systemd-resolved")
|
|
os.system("sudo systemctl restart ModemManager lte")
|
|
wait_for_modem()
|
|
|
|
@classmethod
|
|
def teardown_class(cls):
|
|
managed_processes['qcomgpsd'].stop()
|
|
os.system("sudo systemctl restart systemd-resolved")
|
|
os.system("sudo systemctl restart ModemManager lte")
|
|
|
|
def setup_method(self):
|
|
self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
|
|
|
|
def teardown_method(self):
|
|
managed_processes['qcomgpsd'].stop()
|
|
os.system("sudo systemctl restart systemd-resolved")
|
|
|
|
def _wait_for_output(self, t):
|
|
dt = 0.1
|
|
for _ in range(t*int(1/dt)):
|
|
self.sm.update(0)
|
|
if self.sm.updated['qcomGnss']:
|
|
break
|
|
time.sleep(dt)
|
|
return self.sm.updated['qcomGnss']
|
|
|
|
def test_no_crash_double_command(self):
|
|
wait_for_modem()
|
|
at_cmd("AT+QGPSDEL=0")
|
|
at_cmd("AT+QGPSDEL=0")
|
|
|
|
def test_wait_for_modem(self):
|
|
os.system("sudo systemctl stop ModemManager")
|
|
managed_processes['qcomgpsd'].start()
|
|
assert self._wait_for_output(30)
|
|
|
|
def test_startup_time(self, subtests):
|
|
for internet in (True, False):
|
|
if not internet:
|
|
os.system("sudo systemctl stop systemd-resolved")
|
|
with subtests.test(internet=internet):
|
|
managed_processes['qcomgpsd'].start()
|
|
assert self._wait_for_output(30)
|
|
managed_processes['qcomgpsd'].stop()
|
|
|
|
def test_turns_off_gnss(self, subtests):
|
|
for s in (0.1, 1, 5):
|
|
with subtests.test(runtime=s):
|
|
managed_processes['qcomgpsd'].start()
|
|
time.sleep(s)
|
|
managed_processes['qcomgpsd'].stop()
|
|
|
|
wait_for_modem()
|
|
resp = at_cmd("AT+QGPS?")
|
|
assert "+QGPS: 0" in resp
|
|
|
|
|
|
def check_assistance(self, should_be_loaded):
|
|
# after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
|
|
# after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
|
|
wait_for_modem()
|
|
out = at_cmd("AT+QGPSXTRADATA?")
|
|
out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
|
|
valid_duration, injected_time_str = out.split(",", 1)
|
|
if should_be_loaded:
|
|
assert valid_duration == "10080" # should be max time
|
|
injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
|
|
assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12
|
|
else:
|
|
valid_duration, injected_time_str = out.split(",", 1)
|
|
injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
|
|
assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
|
|
assert valid_duration == '0'
|
|
|
|
@pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
|
|
def test_assistance_loading(self):
|
|
managed_processes['qcomgpsd'].start()
|
|
assert self._wait_for_output(30)
|
|
managed_processes['qcomgpsd'].stop()
|
|
self.check_assistance(True)
|
|
|
|
@pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
|
|
def test_no_assistance_loading(self):
|
|
os.system("sudo systemctl stop systemd-resolved")
|
|
|
|
managed_processes['qcomgpsd'].start()
|
|
assert self._wait_for_output(30)
|
|
managed_processes['qcomgpsd'].stop()
|
|
self.check_assistance(False)
|
|
|
|
@pytest.mark.skip(reason="XTRA injection via QMI needs debugging on AGNOS 17")
|
|
def test_late_assistance_loading(self):
|
|
os.system("sudo systemctl stop systemd-resolved")
|
|
|
|
managed_processes['qcomgpsd'].start()
|
|
self._wait_for_output(17)
|
|
assert self.sm.updated['qcomGnss']
|
|
|
|
os.system("sudo systemctl restart systemd-resolved")
|
|
time.sleep(15)
|
|
managed_processes['qcomgpsd'].stop()
|
|
self.check_assistance(True)
|