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68 lines
1.8 KiB
68 lines
1.8 KiB
#!/usr/bin/env python3
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import time
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import unittest
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import os
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import numpy as np
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from selfdrive.test.helpers import with_processes
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from selfdrive.camerad.snapshot.snapshot import get_snapshots
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from selfdrive.hardware import EON, TICI
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TEST_TIME = 45
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REPEAT = 5
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os.environ["SEND_ROAD"] = "1"
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os.environ["SEND_DRIVER"] = "1"
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if TICI:
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os.environ["SEND_WIDE_ROAD"] = "1"
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class TestCamerad(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if not (EON or TICI):
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raise unittest.SkipTest
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def _numpy_rgb2gray(self, im):
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ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
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return ret
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def _is_exposure_okay(self, i, med_mean=np.array([[0.2,0.4],[0.2,0.6]])):
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h, w = i.shape[:2]
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i = i[h//10:9*h//10,w//10:9*w//10]
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med_ex, mean_ex = med_mean
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i = self._numpy_rgb2gray(i)
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i_median = np.median(i) / 255.
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i_mean = np.mean(i) / 255.
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print([i_median, i_mean])
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return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
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@with_processes(['camerad'])
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def test_camera_operation(self):
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print("checking image outputs")
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start = time.time()
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passed = 0
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while(time.time() - start < TEST_TIME and passed < REPEAT):
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rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
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res = self._is_exposure_okay(rpic)
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res = res and self._is_exposure_okay(dpic)
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if TICI:
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wpic, _ = get_snapshots(frame="wideRoadCameraState")
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res = res and self._is_exposure_okay(wpic)
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if passed > 0 and not res:
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passed = -passed # fails test if any failure after first sus
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break
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passed += int(res)
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time.sleep(2)
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print(passed)
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self.assertTrue(passed >= REPEAT)
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if __name__ == "__main__":
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unittest.main()
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