CI: power draw test (#24292)

* CI: power draw test

* initialize hardware

* try this

* fix that

* happy linter

* actually happy

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 37dbc7be0c

Jenkinsfile

@@ -120,6 +120,7 @@ pipeline {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
                       ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],

selfdrive/hardware/tici/power_monitor.py

@@ -1,11 +1,32 @@
 #!/usr/bin/env python3
 import sys
 import time
+import numpy as np
+from typing import List
+
+from common.realtime import Ratekeeper
 
 def average(avg, sample):
   # Weighted avg between existing value and new sample
   return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1)
 
+
+def sample_power(seconds=5) -> List[float]:
+  rate = 123
+  rk = Ratekeeper(rate, print_delay_threshold=None)
+
+  pwrs = []
+  for _ in range(rate*seconds):
+    with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
+      pwrs.append(int(f.read()) / 1e6)
+    rk.keep_time()
+  return pwrs
+
+def get_power(seconds=5):
+  pwrs = sample_power(seconds)
+  return np.mean(pwrs)
+
+
 if __name__ == '__main__':
 
   sample_time = None

selfdrive/hardware/tici/precise_power_measure.py

@@ -1,17 +1,9 @@
 #!/usr/bin/env python3
 import numpy as np
-from common.realtime import Ratekeeper
+from selfdrive.hardware.tici.power_monitor import sample_power
 
 if __name__ == '__main__':
-  RATE = 123
+  print("measuring for 5 seconds")
-  print("measuring for 5 seconds at %dhz 3 times" % RATE)
-  rk = Ratekeeper(RATE, print_delay_threshold=None)
-
   for _ in range(3):
-    pwrs = []
+    pwrs = sample_power()
-    for _ in range(RATE*5):
-      with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
-        pwrs.append(int(f.read()) / 1000.)
-      rk.keep_time()
     print("mean %.2f std %.2f" % (np.mean(pwrs), np.std(pwrs)))
-

selfdrive/hardware/tici/test_power_draw.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import unittest
+import time
+import math
+from collections import OrderedDict
+
+from selfdrive.hardware import HARDWARE, TICI
+from selfdrive.hardware.tici.power_monitor import get_power
+from selfdrive.manager.process_config import managed_processes
+from selfdrive.manager.manager import manager_cleanup
+
+POWER = OrderedDict(
+  camerad=2.65,
+  modeld=1.15,
+  dmonitoringmodeld=0.25,
+  loggerd=0.45,
+)
+
+
+class TestPowerDraw(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+  def setUp(self):
+    HARDWARE.initialize_hardware()
+    HARDWARE.set_power_save(False)
+
+  def tearDown(self):
+    manager_cleanup()
+
+  def test_camera_procs(self):
+    baseline = get_power()
+
+    prev = baseline
+    used = {}
+    for proc in POWER.keys():
+      managed_processes[proc].start()
+      time.sleep(6)
+
+      now = get_power(8)
+      used[proc] = now - prev
+      prev = now
+
+    manager_cleanup()
+
+    print("-"*35)
+    print(f"Baseline {baseline:.2f}W\n")
+    for proc in POWER.keys():
+      cur = used[proc]
+      expected = POWER[proc]
+      print(f"{proc.ljust(20)} {expected:.2f}W  {cur:.2f}W")
+      with self.subTest(proc=proc):
+        self.assertTrue(math.isclose(cur, expected, rel_tol=0.10, abs_tol=0.1))
+    print("-"*35)
+
+
+if __name__ == "__main__":
+  unittest.main()