openpilot_comma/selfdrive/thermald/tests/test_power_monitoring.py

#!/usr/bin/env python3
import pytest

from openpilot.common.params import Params
from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
                                                CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S

# Create fake time
ssb = 0.
def mock_time_monotonic():
  global ssb
  ssb += 1.
  return ssb

TEST_DURATION_S = 50
GOOD_VOLTAGE = 12 * 1e3
VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3

def pm_patch(mocker, name, value, constant=False):
  if constant:
    mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value)
  else:
    mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value)


@pytest.fixture(autouse=True)
def mock_time(mocker):
  mocker.patch("time.monotonic", mock_time_monotonic)


class TestPowerMonitoring:
  def setup_method(self):
    self.params = Params()

  # Test to see that it doesn't do anything when pandaState is None
  def test_panda_state_present(self):
    pm = PowerMonitoring()
    for _ in range(10):
      pm.calculate(None, None)
    assert pm.get_power_used() == 0
    assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10)

  # Test to see that it doesn't integrate offroad when ignition is True
  def test_offroad_ignition(self):
    pm = PowerMonitoring()
    for _ in range(10):
      pm.calculate(GOOD_VOLTAGE, True)
    assert pm.get_power_used() == 0

  # Test to see that it integrates with discharging battery
  def test_offroad_integration_discharging(self, mocker):
    POWER_DRAW = 4
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    for _ in range(TEST_DURATION_S + 1):
      pm.calculate(GOOD_VOLTAGE, False)
    expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
    assert abs(pm.get_power_used() - expected_power_usage) < 10

  # Test to check positive integration of car_battery_capacity
  def test_car_battery_integration_onroad(self, mocker):
    POWER_DRAW = 4
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = 0
    for _ in range(TEST_DURATION_S + 1):
      pm.calculate(GOOD_VOLTAGE, True)
    expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
    assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10

  # Test to check positive integration upper limit
  def test_car_battery_integration_upper_limit(self, mocker):
    POWER_DRAW = 4
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
    for _ in range(TEST_DURATION_S + 1):
      pm.calculate(GOOD_VOLTAGE, True)
    estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
    assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10

  # Test to check negative integration of car_battery_capacity
  def test_car_battery_integration_offroad(self, mocker):
    POWER_DRAW = 4
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
    for _ in range(TEST_DURATION_S + 1):
      pm.calculate(GOOD_VOLTAGE, False)
    expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
    assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10

  # Test to check negative integration lower limit
  def test_car_battery_integration_lower_limit(self, mocker):
    POWER_DRAW = 4
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = 1000
    for _ in range(TEST_DURATION_S + 1):
      pm.calculate(GOOD_VOLTAGE, False)
    estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
    assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10

  # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
  def test_max_time_offroad(self, mocker):
    MOCKED_MAX_OFFROAD_TIME = 3600
    POWER_DRAW = 0 # To stop shutting down for other reasons
    pm_patch(mocker, "MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True)
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
    start_time = ssb
    ignition = False
    while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
      pm.calculate(GOOD_VOLTAGE, ignition)
      if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
        assert not pm.should_shutdown(ignition, True, start_time, False)
    assert pm.should_shutdown(ignition, True, start_time, False)

  def test_car_voltage(self, mocker):
    POWER_DRAW = 0 # To stop shutting down for other reasons
    TEST_TIME = 350
    VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
    pm_patch(mocker, "VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True)
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
    ignition = False
    start_time = ssb
    for i in range(TEST_TIME):
      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
      if i % 10 == 0:
        assert pm.should_shutdown(ignition, True, start_time, True) == \
                          (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and \
                          (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and \
                            (ssb - start_time) > DELAY_SHUTDOWN_TIME_S)
    assert pm.should_shutdown(ignition, True, start_time, True)

  # Test to check policy of not stopping charging when DisablePowerDown is set
  def test_disable_power_down(self, mocker):
    POWER_DRAW = 0 # To stop shutting down for other reasons
    TEST_TIME = 100
    self.params.put_bool("DisablePowerDown", True)
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
    ignition = False
    for i in range(TEST_TIME):
      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
      if i % 10 == 0:
        assert not pm.should_shutdown(ignition, True, ssb, False)
    assert not pm.should_shutdown(ignition, True, ssb, False)

  # Test to check policy of not stopping charging when ignition
  def test_ignition(self, mocker):
    POWER_DRAW = 0 # To stop shutting down for other reasons
    TEST_TIME = 100
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
    ignition = True
    for i in range(TEST_TIME):
      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
      if i % 10 == 0:
        assert not pm.should_shutdown(ignition, True, ssb, False)
    assert not pm.should_shutdown(ignition, True, ssb, False)

  # Test to check policy of not stopping charging when harness is not connected
  def test_harness_connection(self, mocker):
    POWER_DRAW = 0 # To stop shutting down for other reasons
    TEST_TIME = 100
    pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh

    ignition = False
    for i in range(TEST_TIME):
      pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
      if i % 10 == 0:
        assert not pm.should_shutdown(ignition, False, ssb, False)
    assert not pm.should_shutdown(ignition, False, ssb, False)

  def test_delay_shutdown_time(self):
    pm = PowerMonitoring()
    pm.car_battery_capacity_uWh = 0
    ignition = False
    in_car = True
    offroad_timestamp = ssb
    started_seen = True
    pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)

    while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
      assert not pm.should_shutdown(ignition, in_car,
                                          offroad_timestamp,
                                          started_seen), \
                       f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
    assert pm.should_shutdown(ignition, in_car,
                                       offroad_timestamp,
                                       started_seen), \
                    f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"