mirror of
https://github.com/kernelkit/infix.git
synced 2026-07-30 04:33:00 +02:00
Joachim Wiberg
cf08b577ed
has_fix() only checks that fix-mode is set (2d/3d), but altitude and other fields may not yet be populated in the operational datastore when gpsd is still processing its first NMEA cycles after boot. Calling verify_position() immediately after has_fix() passes can therefore race and fail with: KeyError: 'altitude' This manifests reliably on the second GPS receiver (gps1) after reboot, because it is initialized slightly later than gps0 and hits the window where fix-mode is set but altitude has not yet appeared. not ok 11 - Verify gps1 position is near the coordinates # Traceback (most recent call last): # File "test/case/hardware/gps_simple/test.py", line 29, in verify_position # alt = float(state["altitude"]) # ~~~~~^^^^^^^^^^^^ # KeyError: 'altitude' Add has_position() to infamy/gps.py, which gates on fix-mode AND all position fields (latitude, longitude, altitude, satellites-used) being present. Replace the has_fix() polls in both the pre- and post-reboot verify steps with has_position(). Signed-off-by: Joachim Wiberg <troglobit@gmail.com>
128 lines
4.5 KiB
Python
Executable File
128 lines
4.5 KiB
Python
Executable File
#!/usr/bin/env python3
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"""GPS receiver basic test
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Verify that two simulated GPS receivers are detected and report valid
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fixes via the ietf-hardware operational datastore.
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The test injects NMEA sentences through QEMU pipe chardev FIFOs,
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which appear as virtio serial ports inside the guest.
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"""
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import infamy
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import infamy.gps as gps
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from infamy.util import until, wait_boot
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# Fun facts: The top of mount everest
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test_lat = 27.9881
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test_lon = 86.9250
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test_alt = 8848.86
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def _near(a, b, tol):
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return abs(a - b) <= tol
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def verify_position(target, name="gps0"):
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state = gps.get_gps_state(target, name)
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try:
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lat = float(state["latitude"])
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lon = float(state["longitude"])
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alt = float(state["altitude"])
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except (KeyError, TypeError, ValueError):
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test.fail()
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if not _near(lat, test_lat, 0.01):
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test.fail()
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if not _near(lon, test_lon, 0.01):
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test.fail()
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if not _near(alt, test_alt, 100):
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test.fail()
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try:
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sat_used = int(state["satellites-used"])
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except (KeyError, TypeError, ValueError):
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test.fail()
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if sat_used != 8:
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test.fail()
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with infamy.Test() as test:
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with test.step("Set up topology and attach to target DUT"):
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env = infamy.Env()
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target = env.attach("target", "mgmt")
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phys_name = env.ltop.mapping["target"][None]
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if not target.has_feature("infix-hardware", "gps"):
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test.skip()
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# These are hacks, will only work on virtual devices
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pipe0 = f"/tmp/{phys_name}-gps"
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pipe1 = f"/tmp/{phys_name}-gps1"
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with gps.NMEAGenerator(pipe0, lat=test_lat, lon=test_lon, alt=test_alt), \
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gps.NMEAGenerator(pipe1, lat=test_lat, lon=test_lon, alt=test_alt):
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with test.step("Configure GPS hardware components"):
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target.put_config_dicts({"ietf-hardware": {
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"hardware": {
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"component": [
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{
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"name": "gps0",
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"class": "infix-hardware:gps",
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"infix-hardware:gps-receiver": {}
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},
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{
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"name": "gps1",
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"class": "infix-hardware:gps",
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"infix-hardware:gps-receiver": {}
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}
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]
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}
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}})
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with test.step("Verify both GPS receivers are activated"):
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until(lambda: gps.is_activated(target, "gps0"), attempts=500)
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until(lambda: gps.is_activated(target, "gps1"), attempts=500)
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with test.step("Verify both GPS receivers report full position data"):
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until(lambda: gps.has_position(target, "gps0"), attempts=60)
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until(lambda: gps.has_position(target, "gps1"), attempts=60)
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with test.step("Verify both GPS receivers have a satellite fix"):
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until(lambda: gps.has_fix(target, "gps0"), attempts=60)
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until(lambda: gps.has_fix(target, "gps1"), attempts=60)
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with test.step("Verify gps0 position is near the coordinates"):
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verify_position(target, "gps0")
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with test.step("Verify gps1 position is near the coordinates"):
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verify_position(target, "gps1")
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with test.step("Save the configuration to startup configuration and reboot"):
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target.startup_override()
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target.copy("running", "startup")
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target.reboot()
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if not wait_boot(target, env):
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test.fail()
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target = env.attach("target", "mgmt", test_reset=False)
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with test.step("Verify both GPS receivers are activated"):
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until(lambda: gps.is_activated(target, "gps0"), attempts=500)
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until(lambda: gps.is_activated(target, "gps1"), attempts=500)
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with test.step("Verify both GPS receivers report full position data"):
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until(lambda: gps.has_position(target, "gps0"), attempts=60)
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until(lambda: gps.has_position(target, "gps1"), attempts=60)
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with test.step("Verify both GPS receivers have a satellite fix"):
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until(lambda: gps.has_fix(target, "gps0"), attempts=60)
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until(lambda: gps.has_fix(target, "gps1"), attempts=60)
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with test.step("Verify gps0 position is near the coordinates"):
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verify_position(target, "gps0")
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with test.step("Verify gps1 position is near the coordinates"):
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verify_position(target, "gps1")
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test.succeed()
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