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63 lines
1.8 KiB
63 lines
1.8 KiB
#!/usr/bin/env python3
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import time
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import unittest
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import cereal.messaging as messaging
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from system.hardware import TICI
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from selfdrive.test.helpers import with_processes
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TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds
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SKIP_FRAME_TOLERANCE = 0
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LAG_FRAME_TOLERANCE = 2 # ms
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FPS_BASELINE = 20
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CAMERAS = {
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"roadCameraState": FPS_BASELINE,
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"driverCameraState": FPS_BASELINE // 2,
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}
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if TICI:
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CAMERAS["driverCameraState"] = FPS_BASELINE
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CAMERAS["wideRoadCameraState"] = FPS_BASELINE
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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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@with_processes(['camerad'])
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def test_frame_packets(self):
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print("checking frame pkts continuity")
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print(TEST_TIMESPAN)
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sm = messaging.SubMaster([socket_name for socket_name in CAMERAS])
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last_frame_id = dict.fromkeys(CAMERAS, None)
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last_ts = dict.fromkeys(CAMERAS, None)
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start_time_sec = time.time()
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while time.time()- start_time_sec < TEST_TIMESPAN:
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sm.update()
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for camera in CAMERAS:
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if sm.updated[camera]:
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ct = (sm[camera].timestampEof if not TICI else sm[camera].timestampSof) / 1e6
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if last_frame_id[camera] is None:
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last_frame_id[camera] = sm[camera].frameId
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last_ts[camera] = ct
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continue
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dfid = sm[camera].frameId - last_frame_id[camera]
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self.assertTrue(abs(dfid - 1) <= SKIP_FRAME_TOLERANCE, "%s frame id diff is %d" % (camera, dfid))
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dts = ct - last_ts[camera]
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self.assertTrue(abs(dts - (1000/CAMERAS[camera])) < LAG_FRAME_TOLERANCE, f"{camera} frame t(ms) diff is {dts:f}")
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last_frame_id[camera] = sm[camera].frameId
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last_ts[camera] = ct
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time.sleep(0.01)
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if __name__ == "__main__":
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unittest.main()
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