From f4d17cbfdd8f2e1a50259d5d9776dd0d993d44a1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Mar 2025 16:54:35 -0800
Subject: [PATCH] camerad: sanity check tests (#34785)

lil more
---
 system/camerad/sensors/os04c10.cc   |  3 +++
 system/camerad/test/test_camerad.py | 33 +++++++++++++++++++++++++++--
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index b3a7e39bfb..d008e1d07b 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -43,6 +43,9 @@ OS04C10::OS04C10() {
   frame_data_type = 0x2c;
   mclk_frequency = 24000000; // Hz
 
+  // TODO: this was set from logs. actually calculate it out
+  readout_time_ns = 11000000;
+
   ev_scale = 150.0;
   dc_gain_factor = 1;
   dc_gain_min_weight = 1;  // always on is fine
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index e88a7bf4bf..0ab71bee46 100644
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -64,7 +64,36 @@ class TestCamerad:
     laggy_frames = {k: v for k, v in diffs.items() if v > 1.1}
     assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
 
+  def test_sanity_checks(self, logs):
+    self._sanity_checks(logs)
+
+  def _sanity_checks(self, ts):
+    for c in CAMERAS:
+      assert c in ts
+      assert len(ts[c]['t']) > 20
+
+      # not a valid request id
+      assert 0 not in ts[c]['requestId']
+
+      # should monotonically increase
+      assert np.all(np.diff(ts[c]['frameId']) >= 1)
+      assert np.all(np.diff(ts[c]['requestId']) >= 1)
+
+      # EOF > SOF
+      assert np.all((ts[c]['timestampEof'] - ts[c]['timestampSof']) > 0)
+
+      # logMonoTime > SOF
+      assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 0.001)
+      assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 0.001)
+
   @pytest.mark.skip("TODO: enable this")
-  def test_stress_test(self, logs):
+  def test_stress_test(self):
     os.environ['SPECTRA_STRESS_TEST'] = '1'
-    run_and_log(["camerad", ], CAMERAS, 5)
+    logs = run_and_log(["camerad", ], CAMERAS, 15)
+    ts = msgs_to_time_series(logs)
+
+    # we should see some jumps from introduced errors
+    assert np.max([ np.max(np.diff(ts[c]['frameId'])) for c in CAMERAS ]) > 1
+    assert np.max([ np.max(np.diff(ts[c]['requestId'])) for c in CAMERAS ]) > 1
+
+    self._sanity_checks(ts)