You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
128 lines
4.2 KiB
128 lines
4.2 KiB
from collections import defaultdict, deque
|
|
import pytest
|
|
import time
|
|
import numpy as np
|
|
from dataclasses import dataclass
|
|
from tabulate import tabulate
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal.services import SERVICE_LIST
|
|
from opendbc.car.car_helpers import get_demo_car_params
|
|
from openpilot.common.mock import mock_messages
|
|
from openpilot.common.params import Params
|
|
from openpilot.system.hardware.tici.power_monitor import get_power
|
|
from openpilot.system.manager.process_config import managed_processes
|
|
from openpilot.system.manager.manager import manager_cleanup
|
|
|
|
SAMPLE_TIME = 8 # seconds to sample power
|
|
MAX_WARMUP_TIME = 30 # seconds to wait for SAMPLE_TIME consecutive valid samples
|
|
|
|
@dataclass
|
|
class Proc:
|
|
procs: list[str]
|
|
power: float
|
|
msgs: list[str]
|
|
rtol: float = 0.05
|
|
atol: float = 0.12
|
|
|
|
@property
|
|
def name(self):
|
|
return '+'.join(self.procs)
|
|
|
|
|
|
PROCS = [
|
|
Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
|
|
Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
|
|
Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
|
|
Proc(['encoderd'], 0.23, msgs=[]),
|
|
]
|
|
|
|
|
|
@pytest.mark.tici
|
|
class TestPowerDraw:
|
|
|
|
def setup_method(self):
|
|
Params().put("CarParams", get_demo_car_params().to_bytes())
|
|
|
|
# wait a bit for power save to disable
|
|
time.sleep(5)
|
|
|
|
def teardown_method(self):
|
|
manager_cleanup()
|
|
|
|
def get_expected_messages(self, proc):
|
|
return int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
|
|
|
|
def valid_msg_count(self, proc, msg_counts):
|
|
msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
|
|
msgs_expected = self.get_expected_messages(proc)
|
|
return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2)
|
|
|
|
def valid_power_draw(self, proc, used):
|
|
return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
|
|
|
|
def tabulate_msg_counts(self, msgs_and_power):
|
|
msg_counts = defaultdict(int)
|
|
for _, counts in msgs_and_power:
|
|
for msg, count in counts.items():
|
|
msg_counts[msg] += count
|
|
return msg_counts
|
|
|
|
def get_power_with_warmup_for_target(self, proc, prev):
|
|
socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
|
|
for sock in socks.values():
|
|
messaging.drain_sock_raw(sock)
|
|
|
|
msgs_and_power = deque([], maxlen=SAMPLE_TIME)
|
|
|
|
start_time = time.monotonic()
|
|
|
|
while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
|
|
power = get_power(1)
|
|
iteration_msg_counts = {}
|
|
for msg,sock in socks.items():
|
|
iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
|
|
msgs_and_power.append((power, iteration_msg_counts))
|
|
|
|
if len(msgs_and_power) < SAMPLE_TIME:
|
|
continue
|
|
|
|
msg_counts = self.tabulate_msg_counts(msgs_and_power)
|
|
now = np.mean([m[0] for m in msgs_and_power])
|
|
|
|
if self.valid_msg_count(proc, msg_counts) and self.valid_power_draw(proc, now - prev):
|
|
break
|
|
|
|
return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
|
|
|
|
@mock_messages(['livePose'])
|
|
def test_camera_procs(self, subtests):
|
|
baseline = get_power()
|
|
|
|
prev = baseline
|
|
used = {}
|
|
warmup_time = {}
|
|
msg_counts = {}
|
|
|
|
for proc in PROCS:
|
|
for p in proc.procs:
|
|
managed_processes[p].start()
|
|
now, local_msg_counts, warmup_time[proc.name] = self.get_power_with_warmup_for_target(proc, prev)
|
|
msg_counts.update(local_msg_counts)
|
|
|
|
used[proc.name] = now - prev
|
|
prev = now
|
|
|
|
manager_cleanup()
|
|
|
|
tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received', "warmup time (s)"]]
|
|
for proc in PROCS:
|
|
cur = used[proc.name]
|
|
expected = proc.power
|
|
msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
|
|
tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)])
|
|
with subtests.test(proc=proc.name):
|
|
assert self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs"
|
|
assert self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W"
|
|
print(tabulate(tab))
|
|
print(f"Baseline {baseline:.2f}W\n")
|
|
|