From f499b6dc64ac8d8f0ffb76db95a998974d462c62 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 2 Jun 2023 21:23:32 -0700 Subject: [PATCH] ci: test sof diffs in onroad test (#27723) * add diff test * skip --------- Co-authored-by: Adeeb Shihadeh old-commit-hash: a2e11b2f48c9c77b453f418ebcde3c1454e5bce2 --- selfdrive/test/test_onroad.py | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 8e51e5ec18..12a3ef48ac 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -270,6 +270,23 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) + @unittest.skip("TODO: enable once timings are fixed") + def test_camera_frame_timings(self): + result = "\n" + result += "------------------------------------------------\n" + result += "----------------- SoF Timing ------------------\n" + result += "------------------------------------------------\n" + for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']: + ts = [getattr(getattr(m, m.which()), "timestampSof") for m in self.lr if name in m.which()] + d_ms = np.diff(ts) / 1e6 + d50 = np.abs(d_ms-50) + self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}") + result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" + result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" + result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" + result += "------------------------------------------------\n" + print(result) + def test_mpc_execution_timings(self): result = "\n" result += "------------------------------------------------\n"