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firestar5683
ab81464bd1
Add navigation and map matching providers with the vendored map service sources. Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
74 lines
2.5 KiB
Python
74 lines
2.5 KiB
Python
from types import SimpleNamespace as NS
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from openpilot.starpilot.gps.acquisition import GpsAcquisition, acquisition_progress
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class GnssMaster:
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def __init__(self):
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self.updated = {'gpsLocationExternal': False, 'qcomGnss': False}
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self.valid = {'gpsLocationExternal': True, 'qcomGnss': True}
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self.messages = {}
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def update(self, _timeout):
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pass
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def __getitem__(self, key):
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return self.messages[key]
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def measurement(self, source, states):
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self.updated = {'gpsLocationExternal': False, 'qcomGnss': True}
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self.messages['qcomGnss'] = NS(which=lambda: 'measurementReport',
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measurementReport=NS(source=source, sv=[NS(observationState=state) for state in states]))
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def test_qualcomm_counts_only_tracked_satellites_and_expires_each_constellation():
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sm = GnssMaster()
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acquisition = GpsAcquisition(sm_factory=lambda: sm)
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acquisition.update(10)
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assert acquisition.satellites(10) is None and acquisition.since == 10
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sm.measurement(0, [5, 5, 4, 1, 0])
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acquisition.update(11)
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sm.measurement(1, [5, 2])
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acquisition.update(12)
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assert acquisition.satellites(12) == 4
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assert acquisition.satellites(16.5) == 1
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assert acquisition.satellites(17) is None
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def test_ublox_preferred_count_expiry_invalid_reports_and_reset():
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sm = GnssMaster()
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acquisition = GpsAcquisition(sm_factory=lambda: sm)
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sm.measurement(0, [5, 4, 0])
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acquisition.update(10)
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sm.updated = {'gpsLocationExternal': True, 'qcomGnss': False}
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sm.messages['gpsLocationExternal'] = NS(satelliteCount=9)
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acquisition.update(11)
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assert acquisition.satellites(11) == 9
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sm.valid['gpsLocationExternal'] = False
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acquisition.update(15)
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assert acquisition.satellites(16) is None
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acquisition.reset()
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assert acquisition.since is None and acquisition.satellites(11) is None
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def test_progress_matches_aacomma():
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assert acquisition_progress(None) == acquisition_progress(0) == .04
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assert acquisition_progress(3) == .5
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assert acquisition_progress(6) == acquisition_progress(12) == 1
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def test_qualcomm_reads_real_capnp_enums():
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from openpilot.cereal import log
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gnss = log.QcomGnss.new_message()
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report = gnss.init('measurementReport')
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report.source = 'glonass'
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satellites = report.init('sv', 3)
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for satellite, state in zip(satellites, ('track', 'trackVerify', 'search'), strict=True):
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satellite.observationState = state
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sm = GnssMaster()
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sm.updated['qcomGnss'] = True
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sm.messages['qcomGnss'] = gnss
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acquisition = GpsAcquisition(sm_factory=lambda: sm)
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acquisition.update(10)
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assert acquisition.satellites(10) == 2
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