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120 lines
3.9 KiB
120 lines
3.9 KiB
#!/usr/bin/env python3
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import os
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import time
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import subprocess
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import unittest
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from pathlib import Path
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import cereal.messaging as messaging
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from cereal.services import service_list
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from common.basedir import BASEDIR
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from common.timeout import Timeout
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from selfdrive.loggerd.config import ROOT
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import selfdrive.manager as manager
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from selfdrive.test.helpers import set_params_enabled
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from tools.lib.logreader import LogReader
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PROCS = [
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("selfdrive.controls.controlsd", 47.0),
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("./loggerd", 45.0),
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("selfdrive.locationd.locationd", 35.0),
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("selfdrive.controls.plannerd", 20.0),
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("selfdrive.locationd.paramsd", 12.0),
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("./camerad", 7.07),
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("./_sensord", 6.17),
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("./_ui", 5.82),
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("selfdrive.controls.radard", 5.67),
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("./_modeld", 4.48),
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("./boardd", 3.63),
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("./_dmonitoringmodeld", 2.67),
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("selfdrive.logmessaged", 1.7),
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("selfdrive.thermald.thermald", 2.41),
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("selfdrive.locationd.calibrationd", 2.0),
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("selfdrive.monitoring.dmonitoringd", 1.90),
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("./proclogd", 1.54),
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("./clocksd", 0.02),
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("./ubloxd", 0.02),
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("selfdrive.tombstoned", 0),
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("./logcatd", 0),
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]
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# ***** test helpers *****
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def cputime_total(ct):
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return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
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def check_cpu_usage(first_proc, last_proc):
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result = "------------------------------------------------\n"
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result += "------------------ CPU Usage -------------------\n"
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result += "------------------------------------------------\n"
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r = True
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dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
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for proc_name, normal_cpu_usage in PROCS:
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first, last = None, None
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try:
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first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
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last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
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cpu_time = cputime_total(last) - cputime_total(first)
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cpu_usage = cpu_time / dt * 100.
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if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
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result += f"Warning {proc_name} using more CPU than normal\n"
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r = False
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elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
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result += f"Warning {proc_name} using less CPU than normal\n"
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r = False
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result += f"{proc_name.ljust(35)} {cpu_usage:.2f}%\n"
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except IndexError:
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result += f"{proc_name.ljust(35)} NO METRICS FOUND {first=} {last=}\n"
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r = False
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result += "------------------------------------------------\n"
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print(result)
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return r
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class TestOnroad(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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os.environ['SKIP_FW_QUERY'] = "1"
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os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
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set_params_enabled()
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initial_segments = set(Path(ROOT).iterdir())
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# start manager and run openpilot for a minute
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try:
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manager.build()
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manager.manager_prepare()
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manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
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proc = subprocess.Popen(["python", manager_path])
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sm = messaging.SubMaster(['carState'])
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with Timeout(150, "controls didn't start"):
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while sm.rcv_frame['carState'] < 0:
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sm.update(1000)
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# make sure we get at least two full segments
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cls.segments = []
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with Timeout(180, "timed out waiting for logs"):
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while len(cls.segments) < 3:
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new_paths = set(Path(ROOT).iterdir()) - initial_segments
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segs = [p for p in new_paths if "--" in str(p)]
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cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
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time.sleep(5)
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finally:
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proc.terminate()
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if proc.wait(60) is None:
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proc.kill()
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cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog.bz2")))
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def test_cpu_usage(self):
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proclogs = [m for m in self.lr if m.which() == 'procLog']
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self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
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cpu_ok = check_cpu_usage(proclogs[0], proclogs[-1])
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self.assertTrue(cpu_ok)
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if __name__ == "__main__":
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unittest.main()
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