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75 lines
1.6 KiB
75 lines
1.6 KiB
#!/usr/bin/env python3
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import unittest
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import time
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import math
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from dataclasses import dataclass
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from tabulate import tabulate
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from system.hardware import HARDWARE, TICI
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from system.hardware.tici.power_monitor import get_power
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from selfdrive.manager.process_config import managed_processes
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from selfdrive.manager.manager import manager_cleanup
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@dataclass
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class Proc:
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name: str
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power: float
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rtol: float = 0.05
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atol: float = 0.1
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warmup: float = 6.
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PROCS = [
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Proc('camerad', 2.15),
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Proc('modeld', 0.93, atol=0.2),
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Proc('dmonitoringmodeld', 0.4),
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Proc('encoderd', 0.23),
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]
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class TestPowerDraw(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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def setUp(self):
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HARDWARE.initialize_hardware()
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HARDWARE.set_power_save(False)
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# wait a bit for power save to disable
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time.sleep(5)
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def tearDown(self):
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manager_cleanup()
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def test_camera_procs(self):
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baseline = get_power()
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prev = baseline
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used = {}
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for proc in PROCS:
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managed_processes[proc.name].start()
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time.sleep(proc.warmup)
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now = get_power(8)
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used[proc.name] = now - prev
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prev = now
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manager_cleanup()
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tab = []
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tab.append(['process', 'expected (W)', 'current (W)'])
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for proc in PROCS:
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cur = used[proc.name]
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expected = proc.power
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tab.append([proc.name, round(expected, 2), round(cur, 2)])
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with self.subTest(proc=proc.name):
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self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
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print(tabulate(tab))
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print(f"Baseline {baseline:.2f}W\n")
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if __name__ == "__main__":
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unittest.main()
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