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FPv2: add worst case timing test (#27917)

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* can FP time

* add

* move the ref up

* assert function

* all brands

* Update selfdrive/car/tests/test_fw_fingerprint.py

* can this can vary a bit more

* or can it
old-commit-hash: 158c951d6fb0b2896800ec49dfa20d917567cccb
This commit is contained in:
Shane Smiskol
2023-04-14 23:41:12 -07:00
committed by GitHub
parent 59abbc069e
commit 05e7547aa5
1 changed files with 23 additions and 12 deletions
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selfdrive/car/tests/test_fw_fingerprint.py
+23 -12
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@@ -115,7 +115,8 @@ class TestFwFingerprint(unittest.TestCase):
class TestFwFingerprintTiming(unittest.TestCase):
def _benchmark(self, brand, num_pandas, ref_time, tol, n):
@staticmethod
def _benchmark(brand, num_pandas, n):
params = Params()
fake_socket = FakeSocket()
@@ -131,13 +132,15 @@ class TestFwFingerprintTiming(unittest.TestCase):
params.put_bool("ObdMultiplexingChanged", True)
times.append(time.perf_counter() - t)
avg_time = round(sum(times) / len(times), 2)
return round(sum(times) / len(times), 2)
def _assert_timing(self, avg_time, ref_time, tol):
self.assertLess(avg_time, ref_time + tol)
self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")
return avg_time
@parameterized.expand([(1,), (2,), ])
def test_fw_query_timing(self, num_pandas):
def test_fw_query_timing(self):
tol = 0.1
total_ref_time = 4.6
brand_ref_times = {
1: {
'body': 0.1,
@@ -157,14 +160,22 @@ class TestFwFingerprintTiming(unittest.TestCase):
}
}
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand, num_pandas=num_pandas):
multi_panda_requests = [r for r in config.requests if r.bus > 3]
if not len(multi_panda_requests) and num_pandas > 1:
raise unittest.SkipTest("No multi-panda FW queries")
total_time = 0
for num_pandas in (1, 2):
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand, num_pandas=num_pandas):
multi_panda_requests = [r for r in config.requests if r.bus > 3]
if not len(multi_panda_requests) and num_pandas > 1:
raise unittest.SkipTest("No multi-panda FW queries")
avg_time = self._benchmark(brand, num_pandas, brand_ref_times[num_pandas][brand], 0.1, 10)
print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
avg_time = self._benchmark(brand, num_pandas, 10)
total_time += avg_time
self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
with self.subTest(brand='all_brands'):
self._assert_timing(total_time, total_ref_time, tol)
print(f'all brands, total FW query time={total_time} seconds')
if __name__ == "__main__":