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@ -23,7 +23,6 @@ from openpilot.selfdrive.test.helpers import set_params_enabled, release_only |
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from openpilot.system.hardware import HARDWARE |
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from openpilot.system.hardware.hw import Paths |
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from openpilot.tools.lib.logreader import LogReader |
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from openpilot.tools.lib.log_time_series import msgs_to_time_series |
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""" |
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CPU usage budget |
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@ -120,8 +119,7 @@ class TestOnroad: |
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if "DEBUG" in os.environ: |
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segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir()) |
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segs = sorted(segs, key=lambda x: x.stat().st_mtime) |
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cls.lr = list(LogReader(os.path.join(segs[-1], "rlog.zst"))) |
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cls.ts = msgs_to_time_series(cls.lr) |
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cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst"))) |
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return |
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# setup env |
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@ -175,8 +173,7 @@ class TestOnroad: |
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cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.zst"))) for s in cls.segments] |
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cls.lr = cls.lrs[0] |
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cls.ts = msgs_to_time_series(cls.lr) |
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cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog.zst"))) |
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cls.log_path = cls.segments[0] |
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cls.log_sizes = {} |
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@ -201,7 +198,7 @@ class TestOnroad: |
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assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8)) |
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def test_manager_starting_time(self): |
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st = self.ts['managerState']['t'][0] |
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st = self.msgs['managerState'][0].logMonoTime / 1e9 |
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assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg" |
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def test_cloudlog_size(self): |
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@ -229,7 +226,7 @@ class TestOnroad: |
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result += "-------------- UI Draw Timing ------------------\n" |
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result += "------------------------------------------------\n" |
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ts = self.ts['uiDebug']['drawTimeMillis'] |
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ts = [m.uiDebug.drawTimeMillis for m in self.msgs['uiDebug']] |
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result += f"min {min(ts):.2f}ms\n" |
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result += f"max {max(ts):.2f}ms\n" |
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result += f"std {np.std(ts):.2f}ms\n" |
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@ -322,7 +319,7 @@ class TestOnroad: |
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result += "----------------- SOF Timing ------------------\n" |
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result += "------------------------------------------------\n" |
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for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']: |
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ts = self.ts[name]['timestampSof'] |
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ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()] |
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d_ms = np.diff(ts) / 1e6 |
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d50 = np.abs(d_ms-50) |
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result += f"{name} sof delta vs 50ms: min {min(d50):.2f}ms\n" |
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@ -341,30 +338,33 @@ class TestOnroad: |
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# sanity checks within a single cam |
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for cam in cams: |
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with subtests.test(test="frame_skips", camera=cam): |
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assert set(np.diff(self.ts[cam]['frameId'])) == {1, }, "Frame ID skips" |
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cam_log = [getattr(x, x.which()) for x in self.msgs[cam]] |
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assert set(np.diff([x.frameId for x in cam_log])) == {1, }, "Frame ID skips" |
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# EOF > SOF |
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eof_sof_diff = self.ts[cam]['timestampEof'] - self.ts[cam]['timestampSof'] |
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eof_sof_diff = np.array([x.timestampEof - x.timestampSof for x in cam_log]) |
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assert np.all(eof_sof_diff > 0) |
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assert np.all(eof_sof_diff < 50*1e6) |
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first_fid = {c: min(self.ts[c]['frameId']) for c in cams} |
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fid = {c: [getattr(m, m.which()).frameId for m in self.msgs[c]] for c in cams} |
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first_fid = [min(x) for x in fid.values()] |
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if cam.endswith('CameraState'): |
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# camerad guarantees that all cams start on frame ID 0 |
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# (note loggerd also needs to start up fast enough to catch it) |
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assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0" |
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assert set(first_fid) == {0, }, "Cameras don't start on frame ID 0" |
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else: |
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# encoder guarantees all cams start on the same frame ID |
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assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID" |
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assert len(set(first_fid)) == 1, "Cameras don't start on same frame ID" |
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# we don't do a full segment rotation, so these might not match exactly |
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last_fid = {c: max(self.ts[c]['frameId']) for c in cams} |
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assert max(last_fid.values()) - min(last_fid.values()) < 10 |
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last_fid = [max(x) for x in fid.values()] |
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assert max(last_fid) - min(last_fid) < 10 |
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start, end = min(first_fid.values()), min(last_fid.values()) |
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start, end = min(first_fid), min(last_fid) |
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all_ts = [[getattr(m, m.which()).timestampSof for m in self.msgs[c]] for c in cams] |
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for i in range(end-start): |
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ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams} |
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diff = (max(ts.values()) - min(ts.values())) |
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ts = [round(x[i]/1e6, 1) for x in all_ts] |
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diff = max(ts) - min(ts) |
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assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}" |
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def test_mpc_execution_timings(self): |
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@ -438,7 +438,12 @@ class TestOnroad: |
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@release_only |
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def test_startup(self): |
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startup_alert = self.ts['selfdriveState']['alertText1'][0] |
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startup_alert = None |
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for msg in self.lrs[0]: |
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# can't use onroadEvents because the first msg can be dropped while loggerd is starting up |
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if msg.which() == "selfdriveState": |
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startup_alert = msg.selfdriveState.alertText1 |
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break |
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expected = EVENTS[log.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1 |
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assert startup_alert == expected, "wrong startup alert" |
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