86 lines
3.5 KiB
Python
86 lines
3.5 KiB
Python
import pytest
|
|
import time
|
|
import numpy as np
|
|
from collections import defaultdict
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal import log
|
|
from cereal.services import SERVICE_LIST
|
|
from openpilot.common.retry import retry
|
|
from openpilot.system.manager.process_config import managed_processes
|
|
|
|
TEST_TIMESPAN = 10
|
|
LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts
|
|
log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
|
|
FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
|
|
log.FrameData.ImageSensor.ox03c10: 1.0}
|
|
|
|
CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
|
|
|
|
@retry(attempts=3, delay=5.0)
|
|
def setup_camerad(cls):
|
|
# run camerad and record logs
|
|
managed_processes['camerad'].start()
|
|
time.sleep(3)
|
|
socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
|
|
|
|
cls.logs = defaultdict(list)
|
|
start_time = time.monotonic()
|
|
while time.monotonic()- start_time < TEST_TIMESPAN:
|
|
for cam, s in socks.items():
|
|
cls.logs[cam] += messaging.drain_sock(s)
|
|
time.sleep(0.2)
|
|
managed_processes['camerad'].stop()
|
|
|
|
cls.log_by_frame_id = defaultdict(list)
|
|
cls.sensor_type = None
|
|
for cam, msgs in cls.logs.items():
|
|
if cls.sensor_type is None:
|
|
cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
|
|
expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
|
|
assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
|
|
|
|
dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
|
|
assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
|
|
|
|
for m in msgs:
|
|
cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
|
|
|
|
# strip beginning and end
|
|
for _ in range(3):
|
|
mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
|
|
del cls.log_by_frame_id[mn]
|
|
del cls.log_by_frame_id[mx]
|
|
|
|
@pytest.mark.tici
|
|
class TestCamerad:
|
|
@classmethod
|
|
def setup_class(cls):
|
|
setup_camerad(cls)
|
|
|
|
def test_frame_skips(self):
|
|
skips = {}
|
|
frame_ids = self.log_by_frame_id.keys()
|
|
for frame_id in range(min(frame_ids), max(frame_ids)):
|
|
seen_cams = [msg.which() for msg in self.log_by_frame_id[frame_id]]
|
|
skip_cams = set(CAMERAS) - set(seen_cams)
|
|
if len(skip_cams):
|
|
skips[frame_id] = skip_cams
|
|
assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}"
|
|
|
|
def test_frame_sync(self):
|
|
frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()}
|
|
diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()}
|
|
|
|
def get_desc(fid, diff):
|
|
cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]]
|
|
return (diff, cam_times)
|
|
laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]}
|
|
|
|
def in_tol(diff):
|
|
return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type]
|
|
if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames):
|
|
print("TODO: handle camera out of sync")
|
|
else:
|
|
assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
|