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131 lines
4.2 KiB
131 lines
4.2 KiB
#!/usr/bin/env python3
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from collections import defaultdict, deque
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import sys
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import pytest
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import unittest
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import time
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import numpy as np
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from dataclasses import dataclass
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from tabulate import tabulate
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from typing import List
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import cereal.messaging as messaging
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from cereal.services import SERVICE_LIST
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from openpilot.common.mock import mock_messages
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from openpilot.selfdrive.car.car_helpers import write_car_param
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from openpilot.system.hardware.tici.power_monitor import get_power
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from openpilot.selfdrive.manager.process_config import managed_processes
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from openpilot.selfdrive.manager.manager import manager_cleanup
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SAMPLE_TIME = 8 # seconds to sample power
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MAX_WARMUP_TIME = 30 # seconds to wait for SAMPLE_TIME consecutive valid samples
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@dataclass
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class Proc:
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name: str
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power: float
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msgs: List[str]
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rtol: float = 0.05
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atol: float = 0.12
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PROCS = [
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Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
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Proc('modeld', 1.12, atol=0.2, msgs=['modelV2']),
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Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
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Proc('encoderd', 0.23, msgs=[]),
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Proc('mapsd', 0.05, msgs=['mapRenderState']),
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Proc('navmodeld', 0.05, msgs=['navModel']),
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]
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@pytest.mark.tici
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class TestPowerDraw(unittest.TestCase):
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def setUp(self):
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write_car_param()
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# wait a bit for power save to disable
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time.sleep(5)
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def tearDown(self):
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manager_cleanup()
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def get_expected_messages(self, proc):
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return int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
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def valid_msg_count(self, proc, msg_counts):
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msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
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msgs_expected = self.get_expected_messages(proc)
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return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2)
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def valid_power_draw(self, proc, used):
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return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
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def tabulate_msg_counts(self, msgs_and_power):
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msg_counts = defaultdict(lambda: 0)
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for _, counts in msgs_and_power:
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for msg, count in counts.items():
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msg_counts[msg] += count
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return msg_counts
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def get_power_with_warmup_for_target(self, proc, prev):
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socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
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for sock in socks.values():
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messaging.drain_sock_raw(sock)
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msgs_and_power = deque([], maxlen=SAMPLE_TIME)
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start_time = time.monotonic()
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while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
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power = get_power(1)
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iteration_msg_counts = {}
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for msg,sock in socks.items():
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iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
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msgs_and_power.append((power, iteration_msg_counts))
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if len(msgs_and_power) < SAMPLE_TIME:
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continue
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msg_counts = self.tabulate_msg_counts(msgs_and_power)
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now = np.mean([m[0] for m in msgs_and_power])
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if self.valid_msg_count(proc, msg_counts) and self.valid_power_draw(proc, now - prev):
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break
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return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
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@mock_messages(['liveLocationKalman'])
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def test_camera_procs(self):
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baseline = get_power()
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prev = baseline
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used = {}
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warmup_time = {}
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msg_counts = {}
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for proc in PROCS:
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managed_processes[proc.name].start()
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now, local_msg_counts, warmup_time[proc.name] = self.get_power_with_warmup_for_target(proc, prev)
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msg_counts.update(local_msg_counts)
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used[proc.name] = now - prev
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prev = now
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manager_cleanup()
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tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received', "warmup time (s)"]]
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for proc in PROCS:
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cur = used[proc.name]
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expected = proc.power
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msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
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tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)])
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with self.subTest(proc=proc.name):
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self.assertTrue(self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs")
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self.assertTrue(self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W")
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print(tabulate(tab))
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print(f"Baseline {baseline:.2f}W\n")
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if __name__ == "__main__":
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pytest.main(sys.argv)
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