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136 lines
6.0 KiB
136 lines
6.0 KiB
import random
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import numpy as np
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import time
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import pytest
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from cereal import messaging, log, car
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from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
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BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
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from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
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from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
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from openpilot.common.params import Params
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from openpilot.tools.lib.logreader import LogReader
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from openpilot.system.hardware import PC
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MAX_ERR_FRAMES = 1
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DT = 0.05
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def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
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for i in range(n_frames):
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t = i * estimator.dt
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desired_la = np.cos(10 * t) * 0.1
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actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.1
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# if sample is masked out, set it to desired value (no lag)
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rejected = random.uniform(0, 1) < rejection_threshold
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if rejected:
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actual_la = desired_la
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desired_cuvature = float(desired_la / (vego ** 2))
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actual_yr = float(actual_la / vego)
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msgs = [
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(t, "carControl", car.CarControl(latActive=not rejected)),
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(t, "carState", car.CarState(vEgo=vego, steeringPressed=False)),
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(t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)),
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(t, "livePose", log.LivePose(angularVelocityDevice=log.LivePose.XYZMeasurement(z=actual_yr, valid=True),
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posenetOK=True, inputsOK=True)),
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(t, "liveCalibration", log.LiveCalibrationData(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
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]
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for t, w, m in msgs:
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estimator.handle_log(t, w, m)
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estimator.update_points()
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estimator.update_estimate()
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class TestLagd:
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def test_read_saved_params(self):
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params = Params()
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lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
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CP = next(m for m in lr if m.which() == "carParams").carParams
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msg = messaging.new_message('liveDelay')
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msg.liveDelay.lateralDelayEstimate = random.random()
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msg.liveDelay.validBlocks = random.randint(1, 10)
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params.put("LiveDelay", msg.to_bytes())
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params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
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saved_lag_params = retrieve_initial_lag(params, CP)
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assert saved_lag_params is not None
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lag, valid_blocks = saved_lag_params
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assert lag == msg.liveDelay.lateralDelayEstimate
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assert valid_blocks == msg.liveDelay.validBlocks
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def test_ncc(self):
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lag_frames = random.randint(1, 19)
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desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
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actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
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mask = np.ones(len(desired_sig), dtype=bool)
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corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
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assert np.argmax(corr) == lag_frames
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# add some noise
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desired_sig += np.random.normal(0, 0.05, len(desired_sig))
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actual_sig += np.random.normal(0, 0.05, len(actual_sig))
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corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
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assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
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# mask out 40% of the values, and make them noise
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mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
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desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
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actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
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corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
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assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
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def test_empty_estimator(self):
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mocked_CP = car.CarParams(steerActuatorDelay=0.8)
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estimator = LateralLagEstimator(mocked_CP, DT)
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msg = estimator.get_msg(True)
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assert msg.liveDelay.status == 'unestimated'
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assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
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assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
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assert msg.liveDelay.validBlocks == 0
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assert msg.liveDelay.calPerc == 0
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def test_estimator_basics(self, subtests):
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for lag_frames in range(5):
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with subtests.test(msg=f"lag_frames={lag_frames}"):
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mocked_CP = car.CarParams(steerActuatorDelay=0.8)
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estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
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process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
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msg = estimator.get_msg(True)
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assert msg.liveDelay.status == 'estimated'
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assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
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assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
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assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
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assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
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assert msg.liveDelay.calPerc == 100
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def test_estimator_masking(self):
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mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
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estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
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process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
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msg = estimator.get_msg(True)
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assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
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assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
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assert msg.liveDelay.calPerc == 100
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@pytest.mark.skipif(PC, reason="only on device")
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@pytest.mark.timeout(60)
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def test_estimator_performance(self):
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mocked_CP = car.CarParams(steerActuatorDelay=0.8)
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estimator = LateralLagEstimator(mocked_CP, DT)
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ds = []
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for _ in range(1000):
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st = time.perf_counter()
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estimator.update_points()
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estimator.update_estimate()
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d = time.perf_counter() - st
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ds.append(d)
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assert np.mean(ds) < DT
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