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92 lines
3.7 KiB
92 lines
3.7 KiB
#!/usr/bin/env python3
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import time
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import unittest
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import numpy as np
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from collections import defaultdict
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import cereal.messaging as messaging
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from cereal import log
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from cereal.services import service_list
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from selfdrive.manager.process_config import managed_processes
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from system.hardware import TICI
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TEST_TIMESPAN = 30
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LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts
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log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame
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FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
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log.FrameData.ImageSensor.ox03c10: 1.0}
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CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
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class TestCamerad(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if not TICI:
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raise unittest.SkipTest
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# run camerad and record logs
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managed_processes['camerad'].start()
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time.sleep(3)
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socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
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cls.logs = defaultdict(list)
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start_time = time.monotonic()
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while time.monotonic()- start_time < TEST_TIMESPAN:
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for cam, s in socks.items():
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cls.logs[cam] += messaging.drain_sock(s)
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time.sleep(0.2)
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managed_processes['camerad'].stop()
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cls.log_by_frame_id = defaultdict(list)
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cls.sensor_type = None
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for cam, msgs in cls.logs.items():
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if cls.sensor_type is None:
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cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
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expected_frames = service_list[cam].frequency * TEST_TIMESPAN
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assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
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dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/service_list[cam].frequency)
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assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
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for m in msgs:
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cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
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# strip beginning and end
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for _ in range(3):
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mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
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del cls.log_by_frame_id[mn]
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del cls.log_by_frame_id[mx]
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@classmethod
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def tearDownClass(cls):
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managed_processes['camerad'].stop()
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def test_frame_skips(self):
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skips = {}
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frame_ids = self.log_by_frame_id.keys()
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for frame_id in range(min(frame_ids), max(frame_ids)):
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seen_cams = [msg.which() for msg in self.log_by_frame_id[frame_id]]
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skip_cams = set(CAMERAS) - set(seen_cams)
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if len(skip_cams):
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skips[frame_id] = skip_cams
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assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}"
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def test_frame_sync(self):
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frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()}
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diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()}
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def get_desc(fid, diff):
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cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]]
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return (diff, cam_times)
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laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]}
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def in_tol(diff):
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return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type]
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if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames):
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print("TODO: handle camera out of sync")
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else:
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assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
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if __name__ == "__main__":
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unittest.main()
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