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104 lines
3.0 KiB
104 lines
3.0 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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import threading
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from dataclasses import dataclass
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from tabulate import tabulate
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from typing import List
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import cereal.messaging as messaging
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from cereal.services import service_list
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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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from selfdrive.navd.tests.test_map_renderer import gen_llk
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SAMPLE_TIME = 8 # seconds to sample power
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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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msgs: List[str]
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rtol: float = 0.05
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atol: float = 0.12
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warmup: float = 6.
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PROCS = [
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Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
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Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']),
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Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
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Proc('encoderd', 0.23, msgs=[]),
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Proc('mapsd', 0.05, msgs=['mapRenderState']),
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Proc('navmodeld', 0.05, msgs=['navModel']),
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]
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def send_llk_msg(done):
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# Send liveLocationKalman at 20Hz
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pm = messaging.PubMaster(['liveLocationKalman'])
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while not done.is_set():
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msg = gen_llk()
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pm.send('liveLocationKalman', msg)
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time.sleep(1/20.)
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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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done = threading.Event()
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thread = threading.Thread(target=send_llk_msg, args=(done,), daemon=True)
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thread.start()
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prev = baseline
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used = {}
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msg_counts = {}
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for proc in PROCS:
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socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
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managed_processes[proc.name].start()
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time.sleep(proc.warmup)
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for sock in socks.values():
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messaging.drain_sock_raw(sock)
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now = get_power(SAMPLE_TIME)
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used[proc.name] = now - prev
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prev = now
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for msg,sock in socks.items():
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msg_counts[msg] = len(messaging.drain_sock_raw(sock))
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done.set()
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manager_cleanup()
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tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
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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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msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
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msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
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tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
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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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self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2))
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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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