mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-27 00:13:53 +08:00
45a6834a74
* Uncomment build_mac job * Add PYCURL_CURL_CONFIG * Acados universal binary * Remove x86 macos references from sconscript * Add missing include in cabana * Update cereal * Update workflow * Remove unnecessary libpaths for darwin * Add missing path to cached dirs * Fix path in cache preparation step * Add poetry caches to CI cache * Compile acados with lower deployment target for CI * Update cereal * Pass -rpath in linker flags as scons doed not support RPATH on macos * Use scons api instead of os * @rpath in install name of acados dylibs * SConstruct cleanup * fix liblocationd tests by adding lib suffix based on platform * Update cereal * Update opendbc * Update opendbc * Add acados gitignore to release files * Update cereal * Update cereal * Add scons_cache to build cache * Add Caskroom to cache * Fix typo * Link all packages at once, instead of one by one * Run cleanup stage using poetry * Remove casks from cache * Move scons cache to separate cache step * Save scons cache only on master * Remove restore-keys from save-scons-cache step * Uncomment if conditions for scons save * Add gcc-arm-embedded cask cache to cache * Custom handling of gcc-arm-embedded toolchain cache * Rename dep cache key * Exclude .fseventsd from cache * Fix glob pattern * Remove .feventsd before caching * Run mac_setup only if dependency cache-hit != true * Update cereal to master * Add overwrite flag to brew link * Remove manual casadi build from mac_setup * Remove restore-keys from dependency cache * Remove linux requirement for casadi * Restore restore-keys to dependency cache
109 lines
3.9 KiB
Python
Executable File
109 lines
3.9 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
"""This test can't be run together with other locationd tests.
|
|
cffi.dlopen breaks the list of registered filters."""
|
|
import os
|
|
import random
|
|
import unittest
|
|
|
|
from cffi import FFI
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal import log
|
|
|
|
from common.ffi_wrapper import suffix
|
|
|
|
SENSOR_DECIMATION = 1
|
|
VISION_DECIMATION = 1
|
|
|
|
LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
|
|
|
|
|
|
class TestLocationdLib(unittest.TestCase):
|
|
def setUp(self):
|
|
header = '''typedef ...* Localizer_t;
|
|
Localizer_t localizer_init(bool has_ublox);
|
|
void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
|
|
void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
|
|
|
|
self.ffi = FFI()
|
|
self.ffi.cdef(header)
|
|
self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
|
|
|
|
self.localizer = self.lib.localizer_init(True) # default to ublox
|
|
|
|
self.buff_size = 2048
|
|
self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
|
|
|
|
def localizer_handle_msg(self, msg_builder):
|
|
bytstr = msg_builder.to_bytes()
|
|
self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
|
|
|
|
def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
|
|
self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
|
|
return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
|
|
|
|
def test_liblocalizer(self):
|
|
msg = messaging.new_message('liveCalibration')
|
|
msg.liveCalibration.validBlocks = random.randint(1, 10)
|
|
msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
|
|
|
|
self.localizer_handle_msg(msg)
|
|
liveloc = self.localizer_get_msg()
|
|
self.assertTrue(liveloc is not None)
|
|
|
|
@unittest.skip("temporarily disabled due to false positives")
|
|
def test_device_fell(self):
|
|
msg = messaging.new_message('accelerometer')
|
|
msg.accelerometer.sensor = 1
|
|
msg.accelerometer.timestamp = msg.logMonoTime
|
|
msg.accelerometer.type = 1
|
|
msg.accelerometer.init('acceleration')
|
|
msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0] # zero with gravity
|
|
self.localizer_handle_msg(msg)
|
|
|
|
ret = self.localizer_get_msg()
|
|
self.assertTrue(ret.liveLocationKalman.deviceStable)
|
|
|
|
msg = messaging.new_message('accelerometer')
|
|
msg.accelerometer.sensor = 1
|
|
msg.accelerometer.timestamp = msg.logMonoTime
|
|
msg.accelerometer.type = 1
|
|
msg.accelerometer.init('acceleration')
|
|
msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2
|
|
self.localizer_handle_msg(msg)
|
|
|
|
ret = self.localizer_get_msg()
|
|
self.assertFalse(ret.liveLocationKalman.deviceStable)
|
|
|
|
def test_posenet_spike(self):
|
|
for _ in range(SENSOR_DECIMATION):
|
|
msg = messaging.new_message('carState')
|
|
msg.carState.vEgo = 6.0 # more than 5 m/s
|
|
self.localizer_handle_msg(msg)
|
|
|
|
ret = self.localizer_get_msg()
|
|
self.assertTrue(ret.liveLocationKalman.posenetOK)
|
|
|
|
for _ in range(20 * VISION_DECIMATION): # size of hist_old
|
|
msg = messaging.new_message('cameraOdometry')
|
|
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
|
|
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
|
|
self.localizer_handle_msg(msg)
|
|
|
|
for _ in range(20 * VISION_DECIMATION): # size of hist_new
|
|
msg = messaging.new_message('cameraOdometry')
|
|
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
|
|
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
|
|
msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger
|
|
self.localizer_handle_msg(msg)
|
|
|
|
ret = self.localizer_get_msg()
|
|
self.assertFalse(ret.liveLocationKalman.posenetOK)
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|