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101 lines
3.5 KiB
101 lines
3.5 KiB
import os
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import time
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import pytest
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import numpy as np
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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.system.manager.process_config import managed_processes
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from openpilot.tools.lib.log_time_series import msgs_to_time_series
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TEST_TIMESPAN = 10
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CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
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def run_and_log(procs, services, duration):
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logs = []
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try:
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for p in procs:
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managed_processes[p].start()
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socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
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start_time = time.monotonic()
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while time.monotonic() - start_time < duration:
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for s in socks:
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logs.extend(messaging.drain_sock(s))
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for p in procs:
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assert managed_processes[p].proc.is_alive()
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finally:
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for p in procs:
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managed_processes[p].stop()
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return logs
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@pytest.fixture(scope="module")
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def logs():
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logs = run_and_log(["camerad", ], CAMERAS, TEST_TIMESPAN)
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ts = msgs_to_time_series(logs)
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for cam in CAMERAS:
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expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
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cnt = len(ts[cam]['t'])
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assert expected_frames*0.8 < cnt < expected_frames*1.2, f"unexpected frame count {cam}: {expected_frames=}, got {cnt}"
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dts = np.abs(np.diff([ts[cam]['timestampSof']/1e6]) - 1000/SERVICE_LIST[cam].frequency)
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assert (dts < 1.0).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
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return ts
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@pytest.mark.tici
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class TestCamerad:
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def test_frame_skips(self, logs):
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for c in CAMERAS:
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assert set(np.diff(logs[c]['frameId'])) == {1, }, f"{c} has frame skips"
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def test_frame_sync(self, logs):
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n = range(len(logs['roadCameraState']['t'][:-10]))
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frame_ids = {i: [logs[cam]['frameId'][i] for cam in CAMERAS] for i in n}
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assert all(len(set(v)) == 1 for v in frame_ids.values()), "frame IDs not aligned"
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frame_times = {i: [logs[cam]['timestampSof'][i] for cam in CAMERAS] for i in n}
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diffs = {i: (max(ts) - min(ts))/1e6 for i, ts in frame_times.items()}
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laggy_frames = {k: v for k, v in diffs.items() if v > 1.1}
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assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
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def test_sanity_checks(self, logs):
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self._sanity_checks(logs)
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def _sanity_checks(self, ts):
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for c in CAMERAS:
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assert c in ts
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assert len(ts[c]['t']) > 20
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# not a valid request id
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assert 0 not in ts[c]['requestId']
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# should monotonically increase
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assert np.all(np.diff(ts[c]['frameId']) >= 1)
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assert np.all(np.diff(ts[c]['requestId']) >= 1)
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# EOF > SOF
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assert np.all((ts[c]['timestampEof'] - ts[c]['timestampSof']) > 0)
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# logMonoTime > SOF
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assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7)
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# logMonoTime > EOF, needs some tolerance since EOF is (SOF + readout time) but there is noise in the SOF timestamping (done via IRQ)
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assert np.mean((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7) > 0.7 # should be mostly logMonoTime > EOF
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assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > -0.10) # when EOF > logMonoTime, it should never be more than two frames
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def test_stress_test(self):
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os.environ['SPECTRA_ERROR_PROB'] = '0.008'
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logs = run_and_log(["camerad", ], CAMERAS, 10)
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ts = msgs_to_time_series(logs)
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# we should see some jumps from introduced errors
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assert np.max([ np.max(np.diff(ts[c]['frameId'])) for c in CAMERAS ]) > 1
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assert np.max([ np.max(np.diff(ts[c]['requestId'])) for c in CAMERAS ]) > 1
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self._sanity_checks(ts)
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