mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-13 05:12:11 +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: 29d3ed2ce63a65f793dc0ecb553180a0d0fba03e
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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