Laikad cpu usage: enable test onroad (#28926)

* enable test onroad

* Better

* specify range

* fix printing

---------

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

selfdrive/test/test_onroad.py

@@ -42,7 +42,7 @@ PROCS = {
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
-  "./_soundd": 1.0,
+  "./_soundd": (15.0, 65.0),
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
@@ -56,7 +56,7 @@ PROCS = {
   "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": 3.0,
   "system.loggerd.deleter": 0.1,
-  "selfdrive.locationd.laikad": None,  # TODO: laikad cpu usage is sporadic
+  "selfdrive.locationd.laikad": (1.0, 80.0),  # TODO: better GPS setup in testing closet
 }
 
 PROCS.update({
@@ -238,19 +238,22 @@ class TestOnroad(unittest.TestCase):
         cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
         cpu_usage = cpu_time / dt * 100.
 
-        if expected_cpu is None:
+        if isinstance(expected_cpu, tuple):
-          result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu}) SKIPPED\n"
+          exp = str(expected_cpu)
-          continue
+          minn, maxx = expected_cpu
-        elif cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0):
+        else:
-          # cpu usage is high while playing sounds
+          exp = f"{expected_cpu:5.2f}"
-          if not (proc_name == "./_soundd" and cpu_usage < 65.):
+          minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
-            err = "using more CPU than normal"
+          maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)
-        elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)):
+
-          err = "using less CPU than normal"
+        if cpu_usage > maxx:
+          err = "using more CPU than expected"
+        elif cpu_usage < minn:
+          err = "using less CPU than expected"
       else:
         err = "NO METRICS FOUND"
 
-      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n"
+      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
       if len(err) > 0:
         cpu_ok = False