Check msg count in test_power_draw (#28444)

* Check msg count in test_power_draw.

* Use drain_sock

* Bug fix

* Combine into a single table

* Check camera state msgs and no default value for Proc.msgs

* Update system/hardware/tici/tests/test_power_draw.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

system/hardware/tici/tests/test_power_draw.py

@@ -5,29 +5,33 @@ import math
 import threading
 from dataclasses import dataclass
 from tabulate import tabulate
+from typing import List
 
 import cereal.messaging as messaging
+from cereal.services import service_list
 from system.hardware import HARDWARE, TICI
 from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.manager.manager import manager_cleanup
 
+SAMPLE_TIME = 8   # seconds to sample power
 
 @dataclass
 class Proc:
   name: str
   power: float
+  msgs: List[str]
   rtol: float = 0.05
   atol: float = 0.12
   warmup: float = 6.
 
 PROCS = [
-  Proc('camerad', 2.1),
+  Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc('modeld', 0.93, atol=0.2),
+  Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']),
-  Proc('dmonitoringmodeld', 0.4),
+  Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
-  Proc('encoderd', 0.23),
+  Proc('encoderd', 0.23, msgs=[]),
-  Proc('mapsd', 0.05),
+  Proc('mapsd', 0.05, msgs=['mapRenderState']),
-  Proc('navmodeld', 0.05),
+  Proc('navmodeld', 0.05, msgs=['navModel']),
 ]
 
 def send_llk_msg(done):
@@ -39,6 +43,7 @@ def send_llk_msg(done):
 
   # Send liveLocationKalman at 20hz
   while not done.is_set():
+    msg.clear_write_flag()
     pm.send('liveLocationKalman', msg)
     time.sleep(1/20)
 
@@ -68,25 +73,33 @@ class TestPowerDraw(unittest.TestCase):
 
     prev = baseline
     used = {}
+    msg_counts = {}
     for proc in PROCS:
+      socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
       managed_processes[proc.name].start()
       time.sleep(proc.warmup)
+      for sock in socks.values():
+        messaging.drain_sock_raw(sock)
 
-      now = get_power(8)
+      now = get_power(SAMPLE_TIME)
       used[proc.name] = now - prev
       prev = now
+      for msg,sock in socks.items():
+        msg_counts[msg] = len(messaging.drain_sock_raw(sock))
 
     done.set()
     manager_cleanup()
 
-    tab = []
+    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
-    tab.append(['process', 'expected (W)', 'measured (W)'])
     for proc in PROCS:
       cur = used[proc.name]
       expected = proc.power
-      tab.append([proc.name, round(expected, 2), round(cur, 2)])
+      msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+      msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
+      tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
       with self.subTest(proc=proc.name):
         self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
+        self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2))
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")