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.
402 lines
14 KiB
402 lines
14 KiB
#!/usr/bin/env python3
|
|
import math
|
|
import json
|
|
import os
|
|
import shutil
|
|
import subprocess
|
|
import time
|
|
import numpy as np
|
|
import unittest
|
|
from collections import Counter, defaultdict
|
|
from functools import cached_property
|
|
from pathlib import Path
|
|
|
|
from cereal import car
|
|
import cereal.messaging as messaging
|
|
from cereal.services import service_list
|
|
from common.basedir import BASEDIR
|
|
from common.timeout import Timeout
|
|
from common.params import Params
|
|
from selfdrive.controls.lib.events import EVENTS, ET
|
|
from system.hardware import HARDWARE
|
|
from system.loggerd.config import ROOT
|
|
from selfdrive.test.helpers import set_params_enabled, release_only
|
|
from tools.lib.logreader import LogReader
|
|
|
|
# Baseline CPU usage by process
|
|
PROCS = {
|
|
"selfdrive.controls.controlsd": 39.0,
|
|
"./loggerd": 14.0,
|
|
"./encoderd": 17.0,
|
|
"./camerad": 14.5,
|
|
"./locationd": 11.0,
|
|
"./mapsd": 2.0,
|
|
"selfdrive.controls.plannerd": 16.5,
|
|
"./_ui": 18.0,
|
|
"selfdrive.locationd.paramsd": 9.0,
|
|
"./_sensord": 12.0,
|
|
"selfdrive.controls.radard": 4.5,
|
|
"./_modeld": 4.48,
|
|
"./_dmonitoringmodeld": 5.0,
|
|
"./_navmodeld": 1.0,
|
|
"selfdrive.thermald.thermald": 3.87,
|
|
"selfdrive.locationd.calibrationd": 2.0,
|
|
"selfdrive.locationd.torqued": 5.0,
|
|
"./_soundd": (15.0, 65.0),
|
|
"selfdrive.monitoring.dmonitoringd": 4.0,
|
|
"./proclogd": 1.54,
|
|
"system.logmessaged": 0.2,
|
|
"./clocksd": 0.02,
|
|
"selfdrive.tombstoned": 0,
|
|
"./logcatd": 0,
|
|
"system.micd": 10.0,
|
|
"system.timezoned": 0,
|
|
"selfdrive.boardd.pandad": 0,
|
|
"selfdrive.statsd": 0.4,
|
|
"selfdrive.navd.navd": 0.4,
|
|
"system.loggerd.uploader": 3.0,
|
|
"system.loggerd.deleter": 0.1,
|
|
"selfdrive.locationd.laikad": (1.0, 80.0), # TODO: better GPS setup in testing closet
|
|
}
|
|
|
|
PROCS.update({
|
|
"tici": {
|
|
"./boardd": 4.0,
|
|
"./ubloxd": 0.02,
|
|
"system.sensord.pigeond": 6.0,
|
|
},
|
|
"tizi": {
|
|
"./boardd": 19.0,
|
|
"system.sensord.rawgps.rawgpsd": 1.0,
|
|
}
|
|
}.get(HARDWARE.get_device_type(), {}))
|
|
|
|
TIMINGS = {
|
|
# rtols: max/min, rsd
|
|
"can": [2.5, 0.35],
|
|
"pandaStates": [2.5, 0.35],
|
|
"peripheralState": [2.5, 0.35],
|
|
"sendcan": [2.5, 0.35],
|
|
"carState": [2.5, 0.35],
|
|
"carControl": [2.5, 0.35],
|
|
"controlsState": [2.5, 0.35],
|
|
"lateralPlan": [2.5, 0.5],
|
|
"longitudinalPlan": [2.5, 0.5],
|
|
"roadCameraState": [2.5, 0.35],
|
|
"driverCameraState": [2.5, 0.35],
|
|
"modelV2": [2.5, 0.35],
|
|
"driverStateV2": [2.5, 0.40],
|
|
"navModel": [2.5, 0.35],
|
|
"mapRenderState": [2.5, 0.35],
|
|
"liveLocationKalman": [2.5, 0.35],
|
|
"wideRoadCameraState": [1.5, 0.35],
|
|
}
|
|
|
|
|
|
def cputime_total(ct):
|
|
return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
|
|
|
|
|
|
class TestOnroad(unittest.TestCase):
|
|
|
|
@classmethod
|
|
def setUpClass(cls):
|
|
if "DEBUG" in os.environ:
|
|
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
|
|
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
|
|
print(segs[-3])
|
|
cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
|
|
return
|
|
|
|
# setup env
|
|
params = Params()
|
|
if "CI" in os.environ:
|
|
params.clear_all()
|
|
params.remove("CurrentRoute")
|
|
set_params_enabled()
|
|
os.environ['TESTING_CLOSET'] = '1'
|
|
if os.path.exists(ROOT):
|
|
shutil.rmtree(ROOT)
|
|
os.system("rm /dev/shm/*")
|
|
|
|
# Make sure athena isn't running
|
|
os.system("pkill -9 -f athena")
|
|
|
|
# start manager and run openpilot for a minute
|
|
proc = None
|
|
try:
|
|
manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
|
|
proc = subprocess.Popen(["python", manager_path])
|
|
|
|
sm = messaging.SubMaster(['carState'])
|
|
with Timeout(150, "controls didn't start"):
|
|
while sm.rcv_frame['carState'] < 0:
|
|
sm.update(1000)
|
|
|
|
# make sure we get at least two full segments
|
|
route = None
|
|
cls.segments = []
|
|
with Timeout(300, "timed out waiting for logs"):
|
|
while route is None:
|
|
route = params.get("CurrentRoute", encoding="utf-8")
|
|
time.sleep(0.1)
|
|
|
|
while len(cls.segments) < 3:
|
|
segs = set()
|
|
if Path(ROOT).exists():
|
|
segs = set(Path(ROOT).glob(f"{route}--*"))
|
|
cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
|
|
time.sleep(2)
|
|
|
|
# chop off last, incomplete segment
|
|
cls.segments = cls.segments[:-1]
|
|
|
|
finally:
|
|
if proc is not None:
|
|
proc.terminate()
|
|
if proc.wait(60) is None:
|
|
proc.kill()
|
|
|
|
cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]
|
|
|
|
# use the second segment by default as it's the first full segment
|
|
cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
|
|
|
|
@cached_property
|
|
def service_msgs(self):
|
|
msgs = defaultdict(list)
|
|
for m in self.lr:
|
|
msgs[m.which()].append(m)
|
|
return msgs
|
|
|
|
def test_service_frequencies(self):
|
|
for s, msgs in self.service_msgs.items():
|
|
if s in ('initData', 'sentinel'):
|
|
continue
|
|
|
|
# skip gps services for now
|
|
if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'):
|
|
continue
|
|
|
|
with self.subTest(service=s):
|
|
assert len(msgs) >= math.floor(service_list[s].frequency*55)
|
|
|
|
def test_cloudlog_size(self):
|
|
msgs = [m for m in self.lr if m.which() == 'logMessage']
|
|
|
|
total_size = sum(len(m.as_builder().to_bytes()) for m in msgs)
|
|
self.assertLess(total_size, 3.5e5)
|
|
|
|
cnt = Counter(json.loads(m.logMessage)['filename'] for m in msgs)
|
|
big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.]
|
|
self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}")
|
|
|
|
def test_ui_timings(self):
|
|
result = "\n"
|
|
result += "------------------------------------------------\n"
|
|
result += "-------------- UI Draw Timing ------------------\n"
|
|
result += "------------------------------------------------\n"
|
|
|
|
ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
|
|
result += f"min {min(ts):.2f}ms\n"
|
|
result += f"max {max(ts):.2f}ms\n"
|
|
result += f"std {np.std(ts):.2f}ms\n"
|
|
result += f"mean {np.mean(ts):.2f}ms\n"
|
|
result += "------------------------------------------------\n"
|
|
print(result)
|
|
|
|
self.assertLess(max(ts), 250.)
|
|
self.assertLess(np.mean(ts), 10.)
|
|
#self.assertLess(np.std(ts), 5.)
|
|
|
|
# some slow frames are expected since camerad/modeld can preempt ui
|
|
veryslow = [x for x in ts if x > 40.]
|
|
assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"
|
|
|
|
def test_cpu_usage(self):
|
|
result = "\n"
|
|
result += "------------------------------------------------\n"
|
|
result += "------------------ CPU Usage -------------------\n"
|
|
result += "------------------------------------------------\n"
|
|
|
|
plogs_by_proc = defaultdict(list)
|
|
for pl in self.service_msgs['procLog']:
|
|
for x in pl.procLog.procs:
|
|
if len(x.cmdline) > 0:
|
|
n = list(x.cmdline)[0]
|
|
plogs_by_proc[n].append(x)
|
|
print(plogs_by_proc.keys())
|
|
|
|
cpu_ok = True
|
|
dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
|
|
for proc_name, expected_cpu in PROCS.items():
|
|
|
|
err = ""
|
|
cpu_usage = 0.
|
|
x = plogs_by_proc[proc_name]
|
|
if len(x) > 2:
|
|
cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
|
|
cpu_usage = cpu_time / dt * 100.
|
|
|
|
if isinstance(expected_cpu, tuple):
|
|
exp = str(expected_cpu)
|
|
minn, maxx = expected_cpu
|
|
else:
|
|
exp = f"{expected_cpu:5.2f}"
|
|
minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
|
|
maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)
|
|
|
|
if cpu_usage > maxx:
|
|
err = "using more CPU than expected"
|
|
elif cpu_usage < minn:
|
|
err = "using less CPU than expected"
|
|
else:
|
|
err = "NO METRICS FOUND"
|
|
|
|
result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({exp}%) {err}\n"
|
|
if len(err) > 0:
|
|
cpu_ok = False
|
|
|
|
# Ensure there's no missing procs
|
|
all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
|
|
for p in all_procs:
|
|
with self.subTest(proc=p):
|
|
assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
|
|
|
|
result += "------------------------------------------------\n"
|
|
print(result)
|
|
|
|
self.assertTrue(cpu_ok)
|
|
|
|
def test_memory_usage(self):
|
|
mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
|
|
print("Memory usage: ", mems)
|
|
|
|
# check for big leaks. note that memory usage is
|
|
# expected to go up while the MSGQ buffers fill up
|
|
self.assertLessEqual(max(mems) - min(mems), 3.0)
|
|
|
|
def test_camera_processing_time(self):
|
|
result = "\n"
|
|
result += "------------------------------------------------\n"
|
|
result += "-------------- Debayer Timing ------------------\n"
|
|
result += "------------------------------------------------\n"
|
|
|
|
ts = [getattr(getattr(m, m.which()), "processingTime") for m in self.lr if 'CameraState' in m.which()]
|
|
self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}")
|
|
result += f"execution time: min {min(ts):.5f}s\n"
|
|
result += f"execution time: max {max(ts):.5f}s\n"
|
|
result += f"execution time: mean {np.mean(ts):.5f}s\n"
|
|
result += "------------------------------------------------\n"
|
|
print(result)
|
|
|
|
@unittest.skip("TODO: enable once timings are fixed")
|
|
def test_camera_frame_timings(self):
|
|
result = "\n"
|
|
result += "------------------------------------------------\n"
|
|
result += "----------------- SoF Timing ------------------\n"
|
|
result += "------------------------------------------------\n"
|
|
for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
|
|
ts = [getattr(getattr(m, m.which()), "timestampSof") for m in self.lr if name in m.which()]
|
|
d_ms = np.diff(ts) / 1e6
|
|
d50 = np.abs(d_ms-50)
|
|
self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}")
|
|
result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n"
|
|
result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n"
|
|
result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n"
|
|
result += "------------------------------------------------\n"
|
|
print(result)
|
|
|
|
def test_mpc_execution_timings(self):
|
|
result = "\n"
|
|
result += "------------------------------------------------\n"
|
|
result += "----------------- MPC Timing ------------------\n"
|
|
result += "------------------------------------------------\n"
|
|
|
|
cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)]
|
|
for (s, instant_max, avg_max) in cfgs:
|
|
ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.service_msgs[s]]
|
|
self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
|
|
self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
|
|
result += f"'{s}' execution time: min {min(ts):.5f}s\n"
|
|
result += f"'{s}' execution time: max {max(ts):.5f}s\n"
|
|
result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
|
|
result += "------------------------------------------------\n"
|
|
print(result)
|
|
|
|
def test_model_execution_timings(self):
|
|
result = "\n"
|
|
result += "------------------------------------------------\n"
|
|
result += "----------------- Model Timing -----------------\n"
|
|
result += "------------------------------------------------\n"
|
|
# TODO: this went up when plannerd cpu usage increased, why?
|
|
cfgs = [
|
|
("modelV2", 0.050, 0.036),
|
|
("driverStateV2", 0.050, 0.026),
|
|
]
|
|
for (s, instant_max, avg_max) in cfgs:
|
|
ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.service_msgs[s]]
|
|
self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
|
|
self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
|
|
result += f"'{s}' execution time: min {min(ts):.5f}s\n"
|
|
result += f"'{s}' execution time: max {max(ts):.5f}s\n"
|
|
result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
|
|
result += "------------------------------------------------\n"
|
|
print(result)
|
|
|
|
def test_timings(self):
|
|
passed = True
|
|
result = "\n"
|
|
result += "------------------------------------------------\n"
|
|
result += "----------------- Service Timings --------------\n"
|
|
result += "------------------------------------------------\n"
|
|
for s, (maxmin, rsd) in TIMINGS.items():
|
|
msgs = [m.logMonoTime for m in self.service_msgs[s]]
|
|
if not len(msgs):
|
|
raise Exception(f"missing {s}")
|
|
|
|
ts = np.diff(msgs) / 1e9
|
|
dt = 1 / service_list[s].frequency
|
|
|
|
try:
|
|
np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
|
|
np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
|
|
except Exception as e:
|
|
result += str(e) + "\n"
|
|
passed = False
|
|
|
|
if np.std(ts) / dt > rsd:
|
|
result += f"{s} - failed RSD timing check\n"
|
|
passed = False
|
|
|
|
result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n"
|
|
result += f"{''.ljust(40)} {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n"
|
|
result += "="*67
|
|
print(result)
|
|
self.assertTrue(passed)
|
|
|
|
@release_only
|
|
def test_startup(self):
|
|
startup_alert = None
|
|
for msg in self.lrs[0]:
|
|
# can't use carEvents because the first msg can be dropped while loggerd is starting up
|
|
if msg.which() == "controlsState":
|
|
startup_alert = msg.controlsState.alertText1
|
|
break
|
|
expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
|
|
self.assertEqual(startup_alert, expected, "wrong startup alert")
|
|
|
|
def test_engagable(self):
|
|
no_entries = Counter()
|
|
for m in self.service_msgs['carEvents']:
|
|
for evt in m.carEvents:
|
|
if evt.noEntry:
|
|
no_entries[evt.name] += 1
|
|
|
|
eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']]
|
|
assert all(eng), \
|
|
f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|