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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| """ | ||
| Utilities for generating mock messages for testing. | ||
| example in common/tests/test_mock.py | ||
| """ | ||
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| import functools | ||
| import threading | ||
| from typing import List, Union | ||
| from cereal.messaging import PubMaster | ||
| from cereal.services import SERVICE_LIST | ||
| from openpilot.common.mock.generators import generate_liveLocationKalman | ||
| from openpilot.common.realtime import Ratekeeper | ||
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| MOCK_GENERATOR = { | ||
| "liveLocationKalman": generate_liveLocationKalman | ||
| } | ||
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| def generate_messages_loop(services: List[str], done: threading.Event): | ||
| pm = PubMaster(services) | ||
| rk = Ratekeeper(100) | ||
| i = 0 | ||
| while not done.is_set(): | ||
| for s in services: | ||
| should_send = i % (100/SERVICE_LIST[s].frequency) == 0 | ||
| if should_send: | ||
| message = MOCK_GENERATOR[s]() | ||
| pm.send(s, message) | ||
| i += 1 | ||
| rk.keep_time() | ||
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| def mock_messages(services: Union[List[str], str]): | ||
| if isinstance(services, str): | ||
| services = [services] | ||
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| def decorator(func): | ||
| @functools.wraps(func) | ||
| def wrapper(*args, **kwargs): | ||
| done = threading.Event() | ||
| t = threading.Thread(target=generate_messages_loop, args=(services, done)) | ||
| t.start() | ||
| try: | ||
| return func(*args, **kwargs) | ||
| finally: | ||
| done.set() | ||
| t.join() | ||
| return wrapper | ||
| return decorator |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| from cereal import messaging | ||
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| LOCATION1 = (32.7174, -117.16277) | ||
| LOCATION2 = (32.7558, -117.2037) | ||
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| LLK_DECIMATION = 10 | ||
| RENDER_FRAMES = 15 | ||
| DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION | ||
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| def generate_liveLocationKalman(location=LOCATION1): | ||
| msg = messaging.new_message('liveLocationKalman') | ||
| msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True} | ||
| msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} | ||
| msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} | ||
| msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} | ||
| msg.liveLocationKalman.status = 'valid' | ||
| msg.liveLocationKalman.gpsOK = True | ||
| return msg |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| import datetime | ||
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| MIN_DATE = datetime.datetime(year=2023, month=6, day=1) | ||
| MIN_DATE = datetime.datetime(year=2024, month=1, day=28) | ||
|
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| def system_time_valid(): | ||
| return datetime.datetime.now() > MIN_DATE |
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Submodule opendbc
updated
2 files
| +12 −6 | generator/gm/gm_global_a_powertrain.dbc | |
| +12 −6 | gm_global_a_powertrain_generated.dbc |
Submodule panda
updated
26 files
| +1 −1 | .pre-commit-config.yaml | |
| +3 −0 | board/SConscript | |
| +0 −1 | board/boards/black.h | |
| +1 −1 | board/boards/board_declarations.h | |
| +87 −0 | board/boards/cuatro.h | |
| +0 −1 | board/boards/dos.h | |
| +0 −1 | board/boards/grey.h | |
| +0 −1 | board/boards/pedal.h | |
| +0 −1 | board/boards/red.h | |
| +0 −38 | board/boards/red_v2.h | |
| +0 −1 | board/boards/tres.h | |
| +0 −1 | board/boards/uno.h | |
| +0 −1 | board/boards/white.h | |
| +0 −1 | board/jungle/boards/board_declarations.h | |
| +0 −1 | board/jungle/boards/board_v1.h | |
| +0 −1 | board/jungle/boards/board_v2.h | |
| +1 −1 | board/jungle/main.c | |
| +1 −1 | board/main.c | |
| +12 −1 | board/safety/safety_elm327.h | |
| +12 −3 | board/stm32h7/board.h | |
| +4 −2 | board/stm32h7/clock.h | |
| +15 −7 | python/__init__.py | |
| +2 −2 | tests/misra/install.sh | |
| +1 −1 | tests/misra/test_misra.sh | |
| +1 −1 | tests/safety/test.sh | |
| +9 −1 | tests/safety/test_elm327.py |
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