split locationd and liblocationd tests

.github/workflows/selfdrive_tests.yaml

@@ -299,6 +299,7 @@ jobs:
                         $UNIT_TEST selfdrive/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        selfdrive/locationd/test/_test_locationd_lib.py && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST selfdrive/hardware/tici && \
@@ -364,7 +365,7 @@ jobs:
                         CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
-  
+
   model_replay_onnx:
     name: model replay onnx
     runs-on: ubuntu-20.04

selfdrive/locationd/test/_test_locationd_lib.py

@@ -0,0 +1,106 @@
+#!/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
+
+SENSOR_DECIMATION = 1
+VISION_DECIMATION = 1
+
+LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
+
+
+class TestLocationdLib(unittest.TestCase):
+  def setUp(self):
+    header = '''typedef ...* Localizer_t;
+Localizer_t localizer_init();
+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()
+
+    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('sensorEvents', 1)
+    msg.sensorEvents[0].sensor = 1
+    msg.sensorEvents[0].timestamp = msg.logMonoTime
+    msg.sensorEvents[0].type = 1
+    msg.sensorEvents[0].init('acceleration')
+    msg.sensorEvents[0].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('sensorEvents', 1)
+    msg.sensorEvents[0].sensor = 1
+    msg.sensorEvents[0].timestamp = msg.logMonoTime
+    msg.sensorEvents[0].type = 1
+    msg.sensorEvents[0].init('acceleration')
+    msg.sensorEvents[0].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()
+

selfdrive/locationd/test/test_locationd.py

@@ -1,110 +1,16 @@
 #!/usr/bin/env python3
-import os
 import json
 import random
 import unittest
 import time
 import capnp
-from cffi import FFI
 
-from cereal import log
 import cereal.messaging as messaging
 from cereal.services import service_list
 from common.params import Params
 
 from selfdrive.manager.process_config import managed_processes
 
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init();
-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()
-
-    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('sensorEvents', 1)
-    msg.sensorEvents[0].sensor = 1
-    msg.sensorEvents[0].timestamp = msg.logMonoTime
-    msg.sensorEvents[0].type = 1
-    msg.sensorEvents[0].init('acceleration')
-    msg.sensorEvents[0].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('sensorEvents', 1)
-    msg.sensorEvents[0].sensor = 1
-    msg.sensorEvents[0].timestamp = msg.logMonoTime
-    msg.sensorEvents[0].type = 1
-    msg.sensorEvents[0].init('acceleration')
-    msg.sensorEvents[0].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)
-
 
 class TestLocationdProc(unittest.TestCase):
   MAX_WAITS = 1000