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 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_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_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_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_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_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_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)