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make test_onroad faster (#34704)

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* revert that

* again

* port over

* clean

* round
This commit is contained in:
Maxime Desroches
2025-02-25 10:32:35 -08:00
committed by GitHub
parent f2480d68b8
commit 470ec46830
1 changed files with 24 additions and 19 deletions
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selfdrive/test/test_onroad.py
+24 -19
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@@ -23,7 +23,6 @@ from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.hw import Paths
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.log_time_series import msgs_to_time_series
"""
CPU usage budget
@@ -120,8 +119,7 @@ class TestOnroad:
if "DEBUG" in os.environ:
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir())
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
cls.lr = list(LogReader(os.path.join(segs[-1], "rlog.zst")))
cls.ts = msgs_to_time_series(cls.lr)
cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst")))
return
# setup env
@@ -175,8 +173,7 @@ class TestOnroad:
cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.zst"))) for s in cls.segments]
cls.lr = cls.lrs[0]
cls.ts = msgs_to_time_series(cls.lr)
cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog.zst")))
cls.log_path = cls.segments[0]
cls.log_sizes = {}
@@ -201,7 +198,7 @@ class TestOnroad:
assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
def test_manager_starting_time(self):
st = self.ts['managerState']['t'][0]
st = self.msgs['managerState'][0].logMonoTime / 1e9
assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
def test_cloudlog_size(self):
@@ -229,7 +226,7 @@ class TestOnroad:
result += "-------------- UI Draw Timing ------------------\n"
result += "------------------------------------------------\n"
ts = self.ts['uiDebug']['drawTimeMillis']
ts = [m.uiDebug.drawTimeMillis for m in self.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"
@@ -322,7 +319,7 @@ class TestOnroad:
result += "----------------- SOF Timing ------------------\n"
result += "------------------------------------------------\n"
for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
ts = self.ts[name]['timestampSof']
ts = [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)
result += f"{name} sof delta vs 50ms: min {min(d50):.2f}ms\n"
@@ -341,30 +338,33 @@ class TestOnroad:
# sanity checks within a single cam
for cam in cams:
with subtests.test(test="frame_skips", camera=cam):
assert set(np.diff(self.ts[cam]['frameId'])) == {1, }, "Frame ID skips"
cam_log = [getattr(x, x.which()) for x in self.msgs[cam]]
assert set(np.diff([x.frameId for x in cam_log])) == {1, }, "Frame ID skips"
# EOF > SOF
eof_sof_diff = self.ts[cam]['timestampEof'] - self.ts[cam]['timestampSof']
eof_sof_diff = np.array([x.timestampEof - x.timestampSof for x in cam_log])
assert np.all(eof_sof_diff > 0)
assert np.all(eof_sof_diff < 50*1e6)
first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
fid = {c: [getattr(m, m.which()).frameId for m in self.msgs[c]] for c in cams}
first_fid = [min(x) for x in fid.values()]
if cam.endswith('CameraState'):
# camerad guarantees that all cams start on frame ID 0
# (note loggerd also needs to start up fast enough to catch it)
assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
assert set(first_fid) == {0, }, "Cameras don't start on frame ID 0"
else:
# encoder guarantees all cams start on the same frame ID
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
assert len(set(first_fid)) == 1, "Cameras don't start on same frame ID"
# we don't do a full segment rotation, so these might not match exactly
last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
assert max(last_fid.values()) - min(last_fid.values()) < 10
last_fid = [max(x) for x in fid.values()]
assert max(last_fid) - min(last_fid) < 10
start, end = min(first_fid.values()), min(last_fid.values())
start, end = min(first_fid), min(last_fid)
all_ts = [[getattr(m, m.which()).timestampSof for m in self.msgs[c]] for c in cams]
for i in range(end-start):
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
diff = (max(ts.values()) - min(ts.values()))
ts = [round(x[i]/1e6, 1) for x in all_ts]
diff = max(ts) - min(ts)
assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
def test_mpc_execution_timings(self):
@@ -438,7 +438,12 @@ class TestOnroad:
@release_only
def test_startup(self):
startup_alert = self.ts['selfdriveState']['alertText1'][0]
startup_alert = None
for msg in self.lrs[0]:
# can't use onroadEvents because the first msg can be dropped while loggerd is starting up
if msg.which() == "selfdriveState":
startup_alert = msg.selfdriveState.alertText1
break
expected = EVENTS[log.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
assert startup_alert == expected, "wrong startup alert"