sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/system/ubloxd/tests/test_pigeond.py

@@ -0,0 +1,54 @@
+import pytest
+import time
+
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
+from openpilot.common.gpio import gpio_read
+from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.common.hardware.tici.pins import GPIO
+
+
+# TODO: test TTFF when we have good A-GNSS
+@pytest.mark.tici
+class TestPigeond:
+
+  def teardown_method(self):
+    managed_processes['pigeond'].stop()
+
+  @with_processes(['pigeond'])
+  def test_frequency(self):
+    sm = messaging.SubMaster(['ubloxRaw'])
+
+    # setup time
+    for _ in range(int(5 * SERVICE_LIST['ubloxRaw'].frequency)):
+      sm.update()
+
+    for _ in range(int(10 * SERVICE_LIST['ubloxRaw'].frequency)):
+      sm.update()
+      assert sm.all_checks()
+
+  def test_startup_time(self):
+    for _ in range(5):
+      sm = messaging.SubMaster(['ubloxRaw'])
+      managed_processes['pigeond'].start()
+
+      start_time = time.monotonic()
+      for __ in range(10):
+        sm.update(1 * 1000)
+        if sm.updated['ubloxRaw']:
+          break
+      assert sm.recv_frame['ubloxRaw'] > 0, "pigeond didn't start outputting messages in time"
+
+      et = time.monotonic() - start_time
+      assert et < 5, f"pigeond took {et:.1f}s to start"
+      managed_processes['pigeond'].stop()
+
+  def test_turns_off_ublox(self):
+    for s in (0.1, 0.5, 1, 5):
+      managed_processes['pigeond'].start()
+      time.sleep(s)
+      managed_processes['pigeond'].stop()
+
+      assert gpio_read(GPIO.UBLOX_RST_N) == 0
+      assert gpio_read(GPIO.GNSS_PWR_EN) == 0