Mapsd: test render performance (#30363)

* cleanup and fix test

* sa

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 676ba9f951

selfdrive/navd/tests/test_map_renderer.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import numpy as np
 import os
 import unittest
 import requests
@@ -9,6 +10,7 @@ import cereal.messaging as messaging
 from typing import Any
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import TICI
 
 LLK_DECIMATION = 10
 CACHE_PATH = "/data/mbgl-cache-navd.db"
@@ -16,6 +18,11 @@ CACHE_PATH = "/data/mbgl-cache-navd.db"
 LOCATION1 = (32.7174, -117.16277)
 LOCATION2 = (32.7558, -117.2037)
 
+DEFAULT_ITERATIONS = 30 * LLK_DECIMATION
+
+LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
+LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
+
 def gen_llk(location=LOCATION1):
   msg = messaging.new_message('liveLocationKalman')
   msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
@@ -110,15 +117,14 @@ class TestMapRenderer(unittest.TestCase):
     assert self.vipc.connect(False)
     self.vipc.recv()
 
-
+  def _run_test(self, expect_valid, locations=LOCATION1_REPEATED):
-  def _run_test(self, expect_valid, location=LOCATION1):
     starting_frame_id = None
 
-    self.location = location
+    render_times = []
 
     # run test
     prev_frame_id = -1
-    for i in range(30*LLK_DECIMATION):
+    for i, location in enumerate(locations):
       frame_expected = (i+1) % LLK_DECIMATION == 0
 
       if self.sm.logMonoTime['mapRenderState'] == 0:
@@ -131,7 +137,7 @@ class TestMapRenderer(unittest.TestCase):
       if starting_frame_id is None:
         starting_frame_id = prev_frame_id
 
-      llk = gen_llk(self.location)
+      llk = gen_llk(location)
       self.pm.send("liveLocationKalman", llk)
       self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
       self.sm.update(1000 if frame_expected else 0)
@@ -157,6 +163,7 @@ class TestMapRenderer(unittest.TestCase):
         assert self.sm['mapRenderState'].renderTime == 0.
       else:
         assert 0. < self.sm['mapRenderState'].renderTime < 0.1
+        render_times.append(self.sm['mapRenderState'].renderTime)
 
       # check vision ipc output
       assert self.vipc.recv() is not None
@@ -164,6 +171,8 @@ class TestMapRenderer(unittest.TestCase):
       assert self.vipc.timestamp_sof == llk.logMonoTime
       assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
 
+    return render_times
+
   def test_with_internet(self):
     self._setup_test()
     self._run_test(True)
@@ -180,13 +189,42 @@ class TestMapRenderer(unittest.TestCase):
     self.server.disable_internet()
 
     # change locations to force mapsd to refetch
-    self._run_test(False, LOCATION2)
+    self._run_test(False, LOCATION2_REPEATED)
 
     self.server.enable_internet()
-    self._run_test(True, LOCATION2)
+    self._run_test(True, LOCATION2_REPEATED)
+
+    self._run_test(True, LOCATION2_REPEATED)
+
+  def test_render_time_distribution(self):
+    if not TICI:
+      raise unittest.SkipTest
+
+    self._setup_test()
+    # from location1 -> location2 and back
+    locations = np.array([*np.linspace(LOCATION1, LOCATION2, 500), *np.linspace(LOCATION2, LOCATION1, 500)]).tolist()
+
+    render_times = self._run_test(True, locations)
+
+    _min = np.min(render_times)
+    _max = np.max(render_times)
+    _mean = np.mean(render_times)
+    _median = np.median(render_times)
+    _stddev = np.std(render_times)
+
+    print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}")
+
+    def assert_stat(stat, nominal, tol=0.2):
+      tol = (nominal / (1+tol)), (nominal * (1+tol))
+      self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}")
+
+    assert_stat(_mean,   0.0035)
+    assert_stat(_median, 0.0034)
+    assert_stat(_stddev, 0.00093)
+
+    self.assertLess(_max, 0.2)
+    self.assertGreater(_min, 0.0010)
 
-    self.location = LOCATION1
-    self._run_test(True, LOCATION2)
 
 if __name__ == "__main__":
   unittest.main()