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_ublox_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_get_orbits_in_process(self):
laikad = Laikad(auto_update=False)
has_orbits = False
for m in self.logs:
laikad.process_ublox_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 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