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stagger driver camera SOF (#37628)

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This commit is contained in:
Adeeb Shihadeh
2026-03-09 20:11:26 -07:00
committed by GitHub
parent 095d96fbe0
commit 1777d548bf
6 changed files with 36 additions and 12 deletions
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selfdrive/test/test_onroad.py
+6 -1
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@@ -342,10 +342,15 @@ class TestOnroad:
start, end = min(first_fid), min(last_fid)
for i in range(end-start):
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
# road and wide cameras (first two) should be synced within 2ms
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
diff = (max(ts.values()) - min(ts.values()))
assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
# driver camera should be staggered ~25ms from road camera
offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
assert 20 < offset_ms < 30, f"driver camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
def test_camera_encoder_matches(self, subtests):
# sanity check that the frame metadata is consistent with the encoded frames
pairs = [('roadCameraState', 'roadEncodeIdx'),