def test_laika_online_nav_only(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) # Disable fetch_orbits to test NAV only laikad.fetch_orbits = Mock() correct_msgs = verify_messages(self.logs, laikad) correct_msgs_expected = 559 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
def test_laika_get_orbits_now(self): laikad = Laikad(auto_update=False) laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()), block=True) prn = "G01" self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0) prn = "R01" self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0) print(min(laikad.astro_dog.orbits[prn], key=lambda e: e.epoch).epoch.as_datetime())
def test_get_orbits_in_process(self):
laikad = Laikad(auto_update=False)
has_orbits = False
for m in self.logs:
laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False)
if laikad.orbit_fetch_future is not None:
laikad.orbit_fetch_future.result()
vals = laikad.astro_dog.orbits.values()
has_orbits = len(vals) > 0 and max([len(v) for v in vals]) > 0
if has_orbits:
break
self.assertTrue(has_orbits)
self.assertGreater(len(laikad.astro_dog.orbit_fetched_times._ranges), 0)
self.assertEqual(None, laikad.orbit_fetch_future)
def test_ephemeris_source_in_msg(self):
data_mock = defaultdict(str)
data_mock['sv_id'] = 1
gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC
laikad = Laikad()
laikad.fetch_orbits(gpstime, block=True)
meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0])
msg = create_measurement_msg(meas)
self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.glonassIacUltraRapid)
# Verify gps satellite returns same source
meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0])
msg = create_measurement_msg(meas)
self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.glonassIacUltraRapid)
# Test nasa source by using older date
gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
laikad = Laikad()
laikad.fetch_orbits(gpstime, block=True)
meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['G01'][0])
msg = create_measurement_msg(meas)
self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nasaUltraRapid)
# Test nav source type
ephem = GPSEphemeris(data_mock, gpstime)
meas = get_measurement_mock(gpstime, ephem)
msg = create_measurement_msg(meas)
self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
def process_msgs(lr, laikad: Laikad):
good_msgs = []
for m in lr:
msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime)
if msg is not None:
good_msgs.append(msg)
return good_msgs
def test_laika_online(self):
laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
correct_msgs = verify_messages(self.logs, laikad)
correct_msgs_expected = 555
self.assertEqual(correct_msgs_expected, len(correct_msgs))
self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
def test_fetch_orbits_non_blocking(self):
gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
laikad = Laikad()
laikad.fetch_orbits(gpstime, block=False)
laikad.orbit_fetch_future.result(30)
# Get results and save orbits to laikad:
laikad.fetch_orbits(gpstime, block=False)
ephem = laikad.astro_dog.orbits['G01'][0]
self.assertIsNotNone(ephem)
laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False)
laikad.orbit_fetch_future.result(30)
# Get results and save orbits to laikad:
laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False)
ephem2 = laikad.astro_dog.orbits['G01'][0]
self.assertIsNotNone(ephem)
self.assertNotEqual(ephem, ephem2)
def test_laika_offline(self, downloader_mock):
downloader_mock.side_effect = IOError
laikad = Laikad(auto_update=False)
correct_msgs = verify_messages(self.logs, laikad)
self.assertEqual(256, len(correct_msgs))
self.assertEqual(
256,
len([
m for m in correct_msgs
if m.gnssMeasurements.positionECEF.valid
]))
def test_laika_offline(self):
# Set to offline forces to use ephemeris messages
laikad = Laikad(use_internet=False)
msgs = process_msgs(self.logs, laikad)
correct_msgs = [
m for m in msgs
if len(m.gnssMeasurements.correctedMeasurements) > 0
]
self.assertEqual(256, len(correct_msgs))
self.assertEqual(
256,
len([
m for m in correct_msgs
if m.gnssMeasurements.positionECEF.valid
]))
def test_kf_becomes_valid(self):
laikad = Laikad(auto_update=False)
m = self.logs[0]
self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
kf_valid = False
for m in self.logs:
laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
if kf_valid:
break
self.assertTrue(kf_valid)
def test_laika_offline_ephem_at_start(self):
# Test offline but process ephemeris msgs of segment first
laikad = Laikad(use_internet=False)
ephemeris_logs = [
m for m in self.logs if m.ubloxGnss.which() == 'ephemeris'
]
msgs = process_msgs(ephemeris_logs + self.logs, laikad)
correct_msgs = [
m for m in msgs
if len(m.gnssMeasurements.correctedMeasurements) > 0
]
self.assertEqual(554, len(correct_msgs))
self.assertGreaterEqual(
554,
len([
m for m in correct_msgs
if m.gnssMeasurements.positionECEF.valid
]))
def test_fetch_orbits_with_wrong_clocks(self):
laikad = Laikad()
def check_has_orbits():
self.assertGreater(len(laikad.astro_dog.orbits), 0)
ephem = laikad.astro_dog.orbits['G01'][0]
self.assertIsNotNone(ephem)
real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
wrong_future_clock_time = real_current_time + SECS_IN_DAY
laikad.fetch_orbits(wrong_future_clock_time, block=True)
check_has_orbits()
self.assertEqual(laikad.last_fetch_orbits_t, wrong_future_clock_time)
# Test fetching orbits with earlier time
assert real_current_time < laikad.last_fetch_orbits_t
laikad.astro_dog.orbits = {}
laikad.fetch_orbits(real_current_time, block=True)
check_has_orbits()
self.assertEqual(laikad.last_fetch_orbits_t, real_current_time)
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, save_ephemeris=True)
# 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, save_ephemeris=True)
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_laika_get_orbits(self): laikad = Laikad(auto_update=False) # Pretend process has loaded the orbits on startup by using the time of the first gps message. laikad.fetch_orbits(self.first_gps_time, block=True) self.dict_has_values(laikad.astro_dog.orbits)
def test_download_failed_russian_source(self, downloader_mock): downloader_mock.side_effect = DownloadFailed laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) self.assertEqual(16, len(correct_msgs)) self.assertEqual(16, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
def test_laika_offline(self, downloader_mock):
downloader_mock.side_effect = DownloadFailed("Mock download failed")
laikad = Laikad(auto_update=False)
laikad.fetch_orbits(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)
