rawgpsd: speedup tests (#29110)

* rawgpsd: speedup tests

* fix that one

* little more

* prevent subtle bugs

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 5fb2f7072b

Jenkinsfile

@@ -168,7 +168,7 @@ pipeline {
               ["test exposure", "python system/camerad/test/test_exposure.py"],
               ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
               ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-              ["test rawgpsd", "python system/sensord/rawgps/test_rawgps.py"],
+              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
             ])
           }
         }

system/sensord/rawgps/test_rawgps.py

@@ -19,12 +19,12 @@ GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
 class TestRawgpsd(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    os.system("sudo systemctl restart systemd-resolved")
-    os.system("sudo systemctl restart ModemManager lte")
-    wait_for_modem()
     if not TICI:
       raise unittest.SkipTest
-    cls.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
+
+    os.system("sudo systemctl start systemd-resolved")
+    os.system("sudo systemctl restart ModemManager lte")
+    wait_for_modem()
 
   @classmethod
   def tearDownClass(cls):
@@ -34,40 +34,44 @@ class TestRawgpsd(unittest.TestCase):
 
   def setUp(self):
     at_cmd("AT+QGPSDEL=0")
+    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
 
   def tearDown(self):
     managed_processes['rawgpsd'].stop()
     os.system("sudo systemctl restart systemd-resolved")
 
-  def _wait_for_output(self, t=10):
-    time.sleep(t)
-    self.sm.update()
+  def _wait_for_output(self, t):
+    dt = 0.1
+    for _ in range(t*int(1/dt)):
+      self.sm.update(0)
+      if self.sm.updated['qcomGnss']:
+        break
+      time.sleep(dt)
+    return self.sm.updated['qcomGnss']
 
   def test_no_crash_double_command(self):
     at_cmd("AT+QGPSDEL=0")
     at_cmd("AT+QGPSDEL=0")
 
   def test_wait_for_modem(self):
-    os.system("sudo systemctl stop ModemManager lte")
+    os.system("sudo systemctl stop ModemManager")
     managed_processes['rawgpsd'].start()
-    self._wait_for_output(10)
-    assert not self.sm.updated['qcomGnss']
+    assert not self._wait_for_output(5)
 
-    os.system("sudo systemctl restart ModemManager lte")
-    self._wait_for_output(30)
-    assert self.sm.updated['qcomGnss']
+    os.system("sudo systemctl restart ModemManager")
+    assert self._wait_for_output(30)
 
   def test_startup_time(self):
-    for i in range(2):
-      if i == 1:
+    for internet in (True, False):
+      if not internet:
         os.system("sudo systemctl stop systemd-resolved")
-      managed_processes['rawgpsd'].start()
-      self._wait_for_output(10)
-      assert self.sm.updated['qcomGnss']
-      managed_processes['rawgpsd'].stop()
+      with self.subTest(internet=internet):
+        managed_processes['rawgpsd'].start()
+        assert self._wait_for_output(10)
+        managed_processes['rawgpsd'].stop()
 
   def test_turns_off_gnss(self):
-    for s in (0.1, 0.5, 1, 5):
+    for s in (0.1, 1, 5):
       managed_processes['rawgpsd'].start()
       time.sleep(s)
       managed_processes['rawgpsd'].stop()
@@ -95,8 +99,7 @@ class TestRawgpsd(unittest.TestCase):
 
   def test_assistance_loading(self):
     managed_processes['rawgpsd'].start()
-    self._wait_for_output(10)
-    assert self.sm.updated['qcomGnss']
+    assert self._wait_for_output(10)
     managed_processes['rawgpsd'].stop()
     self.check_assistance(True)
 
@@ -104,8 +107,7 @@ class TestRawgpsd(unittest.TestCase):
     os.system("sudo systemctl stop systemd-resolved")
 
     managed_processes['rawgpsd'].start()
-    self._wait_for_output(10)
-    assert self.sm.updated['qcomGnss']
+    assert self._wait_for_output(10)
     managed_processes['rawgpsd'].stop()
     self.check_assistance(False)
 
@@ -115,8 +117,9 @@ class TestRawgpsd(unittest.TestCase):
     managed_processes['rawgpsd'].start()
     self._wait_for_output(17)
     assert self.sm.updated['qcomGnss']
+
     os.system("sudo systemctl restart systemd-resolved")
-    self._wait_for_output(15)
+    time.sleep(15)
     managed_processes['rawgpsd'].stop()
     self.check_assistance(True)