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72 lines
2.6 KiB
72 lines
2.6 KiB
#!/usr/bin/env python3
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import time
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import unittest
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import numpy as np
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import cereal.messaging as messaging
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from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error
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from common.transformations.camera import tici_f_frame_size
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from common.realtime import DT_MDL
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from selfdrive.manager.process_config import managed_processes
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VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
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"wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
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IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
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IMG_BYTES = IMG.flatten().tobytes()
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class TestModeld(unittest.TestCase):
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def setUp(self):
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self.vipc_server = VisionIpcServer("camerad")
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self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
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self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
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self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
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self.vipc_server.start_listener()
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self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
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self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
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managed_processes['modeld'].start()
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time.sleep(0.2)
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self.sm.update(1000)
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def tearDown(self):
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managed_processes['modeld'].stop()
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del self.vipc_server
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def test_modeld(self):
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for n in range(1, 500):
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for cam in ('roadCameraState', 'wideRoadCameraState'):
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msg = messaging.new_message(cam)
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cs = getattr(msg, cam)
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cs.frameId = n
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cs.timestampSof = int((n * DT_MDL) * 1e9)
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cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
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self.pm.send(msg.which(), msg)
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self.vipc_server.send(VIPC_STREAM[msg.which()], IMG_BYTES, cs.frameId,
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cs.timestampSof, cs.timestampEof)
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self.sm.update(5000)
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if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
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self.sm.update(1000)
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mdl = self.sm['modelV2']
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self.assertEqual(mdl.frameId, n)
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self.assertEqual(mdl.frameIdExtra, n)
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self.assertEqual(mdl.timestampEof, cs.timestampEof)
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self.assertEqual(mdl.frameAge, 0)
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self.assertEqual(mdl.frameDropPerc, 0)
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odo = self.sm['cameraOdometry']
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self.assertEqual(odo.frameId, n)
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self.assertEqual(odo.timestampEof, cs.timestampEof)
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def test_skipped_frames(self):
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pass
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if __name__ == "__main__":
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unittest.main()
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