openpilot_comma/selfdrive/test/test_onroad.py

#!/usr/bin/env python3
import os
import time
import subprocess
import unittest
from pathlib import Path

import cereal.messaging as messaging
from cereal.services import service_list
from common.basedir import BASEDIR
from common.timeout import Timeout
from selfdrive.loggerd.config import ROOT
from selfdrive.test.helpers import set_params_enabled
from tools.lib.logreader import LogReader

PROCS = [
  ("selfdrive.controls.controlsd", 47.0),
  ("./loggerd", 45.0),
  ("selfdrive.locationd.locationd", 35.0),
  ("selfdrive.controls.plannerd", 20.0),
  ("./_ui", 15.0),
  ("selfdrive.locationd.paramsd", 12.0),
  ("./camerad", 7.07),
  ("./_sensord", 6.17),
  ("selfdrive.controls.radard", 5.67),
  ("./_modeld", 4.48),
  ("./boardd", 3.63),
  ("./_dmonitoringmodeld", 2.67),
  ("selfdrive.thermald.thermald", 2.41),
  ("selfdrive.locationd.calibrationd", 2.0),
  ("selfdrive.monitoring.dmonitoringd", 1.90),
  ("./proclogd", 1.54),
  ("selfdrive.logmessaged", 0.2),
  ("./clocksd", 0.02),
  ("./ubloxd", 0.02),
  ("selfdrive.tombstoned", 0),
  ("./logcatd", 0),
]


def cputime_total(ct):
  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem


def check_cpu_usage(first_proc, last_proc):
  result =  "------------------------------------------------\n"
  result += "------------------ CPU Usage -------------------\n"
  result += "------------------------------------------------\n"

  r = True
  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
  for proc_name, normal_cpu_usage in PROCS:
    first, last = None, None
    try:
      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
      cpu_time = cputime_total(last) - cputime_total(first)
      cpu_usage = cpu_time / dt * 100.
      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
        result += f"Warning {proc_name} using more CPU than normal\n"
        r = False
      elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
        result += f"Warning {proc_name} using less CPU than normal\n"
        r = False
      result += f"{proc_name.ljust(35)}  {cpu_usage:.2f}%\n"
    except IndexError:
      result += f"{proc_name.ljust(35)}  NO METRICS FOUND {first=} {last=}\n"
      r = False
  result += "------------------------------------------------\n"
  print(result)
  return r


class TestOnroad(unittest.TestCase):

  @classmethod
  def setUpClass(cls):
    os.environ['SKIP_FW_QUERY'] = "1"
    os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
    set_params_enabled()

    initial_segments = set(Path(ROOT).iterdir())

    # start manager and run openpilot for a minute
    try:
      manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
      proc = subprocess.Popen(["python", manager_path])

      sm = messaging.SubMaster(['carState'])
      with Timeout(150, "controls didn't start"):
        while sm.rcv_frame['carState'] < 0:
          sm.update(1000)

      # make sure we get at least two full segments
      cls.segments = []
      with Timeout(300, "timed out waiting for logs"):
        while len(cls.segments) < 3:
          new_paths = set(Path(ROOT).iterdir()) - initial_segments
          segs = [p for p in new_paths if "--" in str(p)]
          cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
          time.sleep(5)

    finally:
      proc.terminate()
      if proc.wait(60) is None:
        proc.kill()

    cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog.bz2")))

  def test_cpu_usage(self):
    proclogs = [m for m in self.lr if m.which() == 'procLog']
    self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
    cpu_ok = check_cpu_usage(proclogs[0], proclogs[-1])
    self.assertTrue(cpu_ok)


if __name__ == "__main__":
  unittest.main()