def test_one_outside_range(self):
start_time = GPSTime.from_datetime(datetime(2020, 4, 28))
end_time = GPSTime.from_datetime(datetime(2020, 5, 2))
time = GPSTime.from_datetime(datetime(2021, 5, 1))
holder = TimeRangeHolder()
holder.add(start_time, end_time)
self.assertFalse(time in holder)
def test_merge_ranges(self):
first_range = (GPSTime.from_datetime(datetime(2020, 5, 1)),
GPSTime.from_datetime(datetime(2020, 5, 3)))
second_range = (GPSTime.from_datetime(datetime(2020, 5, 7)),
GPSTime.from_datetime(datetime(2020, 5, 9)))
merge_range = (GPSTime.from_datetime(datetime(2020, 5, 2)),
GPSTime.from_datetime(datetime(2020, 5, 8)))
time = GPSTime.from_datetime(datetime(2020, 5, 5))
holder = TimeRangeHolder()
holder.add(*first_range)
holder.add(*second_range)
self.assertFalse(time in holder)
holder.add(*merge_range)
self.assertTrue(time in holder)
def test_cache(self):
laikad = Laikad(auto_update=True, save_ephemeris=True)
def wait_for_cache():
max_time = 2
while Params().get(EPHEMERIS_CACHE) is None:
time.sleep(0.1)
max_time -= 0.1
if max_time == 0:
self.fail("Cache has not been written after 2 seconds")
# Test cache with no ephemeris
laikad.cache_ephemeris(t=GPSTime(0, 0))
wait_for_cache()
Params().delete(EPHEMERIS_CACHE)
laikad.astro_dog.get_navs(self.first_gps_time)
laikad.fetch_orbits(self.first_gps_time, block=True)
# Wait for cache to save
wait_for_cache()
# Check both nav and orbits separate
laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV)
# Verify orbits and nav are loaded from cache
self.dict_has_values(laikad.astro_dog.orbits)
self.dict_has_values(laikad.astro_dog.nav)
# Verify cache is working for only nav by running a segment
msg = verify_messages(self.logs, laikad, return_one_success=True)
self.assertIsNotNone(msg)
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
laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
laikad.fetch_orbits(self.first_gps_time, block=False)
mock_method.assert_not_called()
# Verify cache is working for only orbits by running a segment
laikad = Laikad(auto_update=False,
valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
msg = verify_messages(self.logs, laikad, return_one_success=True)
self.assertIsNotNone(msg)
# Verify orbit data is not downloaded
mock_method.assert_not_called()
def test_extend_range_right(self):
merge_range = (GPSTime.from_datetime(datetime(2020, 5, 7)),
GPSTime.from_datetime(datetime(2020, 5, 9)))
range_ = (GPSTime.from_datetime(datetime(2020, 5, 3)),
GPSTime.from_datetime(datetime(2020, 5, 7)))
time = GPSTime.from_datetime(datetime(2020, 5, 8))
holder = TimeRangeHolder()
holder.add(*range_)
self.assertFalse(time in holder)
holder.add(*merge_range)
self.assertTrue(time in holder)
def test_empty(self):
time = GPSTime.from_datetime(datetime(2020, 5, 1, 0, 0, 0))
holder = TimeRangeHolder()
self.assertFalse(time in holder)