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77 lines
2.4 KiB
77 lines
2.4 KiB
import random
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import numpy as np
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import selfdrive.boardd.tests.boardd_old as boardd_old
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import selfdrive.boardd.boardd as boardd
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from common.realtime import sec_since_boot
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from cereal import log
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import unittest
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def generate_random_can_data_list():
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can_list = []
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cnt = random.randint(1, 64)
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for _ in range(cnt):
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can_data = np.random.bytes(random.randint(1, 8))
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can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
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return can_list, cnt
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class TestBoarddApiMethods(unittest.TestCase):
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def test_correctness(self):
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for i in range(1000):
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can_list, _ = generate_random_can_data_list()
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# Sendcan
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# Old API
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m_old = boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
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# new API
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m = boardd.can_list_to_can_capnp(can_list, 'sendcan')
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ev_old = log.Event.from_bytes(m_old)
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ev = log.Event.from_bytes(m)
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self.assertEqual(ev_old.which(), ev.which())
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self.assertEqual(len(ev.sendcan), len(ev_old.sendcan))
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for i in range(len(ev.sendcan)):
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attrs = ['address', 'busTime', 'dat', 'src']
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for attr in attrs:
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self.assertEqual(getattr(ev.sendcan[i], attr, 'new'), getattr(ev_old.sendcan[i], attr, 'old'))
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# Can
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m_old = boardd_old.can_list_to_can_capnp(can_list, 'can').to_bytes()
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# new API
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m = boardd.can_list_to_can_capnp(can_list, 'can')
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ev_old = log.Event.from_bytes(m_old)
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ev = log.Event.from_bytes(m)
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self.assertEqual(ev_old.which(), ev.which())
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self.assertEqual(len(ev.can), len(ev_old.can))
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for i in range(len(ev.can)):
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attrs = ['address', 'busTime', 'dat', 'src']
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for attr in attrs:
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self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old'))
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def test_performance(self):
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can_list, _ = generate_random_can_data_list()
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recursions = 1000
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n1 = sec_since_boot()
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for _ in range(recursions):
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boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
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n2 = sec_since_boot()
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elapsed_old = n2 - n1
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# print('Old API, elapsed time: {} secs'.format(elapsed_old))
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n1 = sec_since_boot()
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for _ in range(recursions):
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boardd.can_list_to_can_capnp(can_list)
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n2 = sec_since_boot()
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elapsed_new = n2 - n1
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# print('New API, elapsed time: {} secs'.format(elapsed_new))
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self.assertTrue(elapsed_new < elapsed_old / 2)
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if __name__ == '__main__':
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unittest.main()
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