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51 lines
1.5 KiB
51 lines
1.5 KiB
import time
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import numpy as np
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import pytest
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from openpilot.selfdrive.test.helpers import with_processes
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from openpilot.system.camerad.snapshot import get_snapshots
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TEST_TIME = 45
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REPEAT = 5
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@pytest.mark.tici
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class TestCamerad:
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@classmethod
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def setup_class(cls):
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pass
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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=None):
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if med_mean is None:
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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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passed = 0
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start = time.monotonic()
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while time.monotonic() - start < TEST_TIME and passed < REPEAT:
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rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
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wpic, _ = get_snapshots(frame="wideRoadCameraState")
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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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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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assert passed >= REPEAT
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