mapsd: more reliable test (#28985)

* mapsd: more reliable test

* better wait

* should be good

* fix frame id

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: cd02ab6358

cereal

@@ -1 +1 @@
-Subproject commit 5a822f43cae3ee77eea6ecb8c63c398da82142b0
+Subproject commit cf9c5cbb9196f80a25bd8421a9921ce4801a7561

selfdrive/navd/tests/test_map_renderer.py

@@ -33,46 +33,53 @@ class TestMapRenderer(unittest.TestCase):
   def tearDown(self):
     managed_processes['mapsd'].stop()
 
-  def _run_test(self, valid):
+  def _run_test(self, expect_valid):
     # start + sync up
     managed_processes['mapsd'].start()
-    for _ in range(100):
-      self.pm.send("liveLocationKalman", gen_llk())
-      self.sm.update(100)
-      if self.sm.updated['mapRenderState']:
-        break
-    assert self.sm.updated['mapRenderState'], "renderer didn't start"
-    assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
+    assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
 
-    # connect to vipc
+    assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
     assert self.vipc.connect(False)
     self.vipc.recv()
 
     # run test
-    for i in range(20*LLK_DECIMATION):
+    prev_frame_id = -1
+    for i in range(30*LLK_DECIMATION):
       frame_expected = (i+1) % LLK_DECIMATION == 0
+
+      if self.sm.logMonoTime['mapRenderState'] == 0:
+        prev_valid = False
+        prev_frame_id = -1
+      else:
         prev_frame_id = self.sm['mapRenderState'].frameId
+        prev_valid = self.sm.valid['mapRenderState']
 
       llk = gen_llk()
       self.pm.send("liveLocationKalman", llk)
-      self.sm.update(200 if frame_expected else 10)
+      self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
+      self.sm.update(1000 if frame_expected else 0)
       assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
 
       if not frame_expected:
+
+        continue
+
+      # give a few frames to go valid
+      if expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid and self.sm['mapRenderState'].frameId < 5:
         continue
 
       # check output
-      assert self.sm.valid['mapRenderState'] == valid
+      assert self.sm.valid['mapRenderState'] == expect_valid
       assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
       assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
-      if not valid:
+      if not expect_valid:
         assert self.sm['mapRenderState'].renderTime == 0.
       else:
         assert 0. < self.sm['mapRenderState'].renderTime < 0.1
 
       # check vision ipc output
       assert self.vipc.recv() is not None
-      assert self.vipc.valid == valid
+      assert self.vipc.valid == expect_valid
       assert self.vipc.timestamp_sof == llk.logMonoTime
       assert self.vipc.frame_id == self.sm['mapRenderState'].frameId