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Sensor tests speedup (#25776)

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* speed up sensor test

* remove sensord dependency

* address comments

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
old-commit-hash: 3058437dd15896e328f8ddf8386683479a1f9493
This commit is contained in:
Kurt Nistelberger
2022-09-13 22:29:55 -07:00
committed by GitHub
parent 763cfa8c4e
commit 2b335169b2
1 changed files with 9 additions and 13 deletions
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selfdrive/sensord/tests/test_sensord.py
+9 -13
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@@ -116,13 +116,16 @@ class TestSensord(unittest.TestCase):
# make sure gpiochip0 is readable
HARDWARE.initialize_hardware()
@with_processes(['sensord'])
# read initial sensor values every test case can use
managed_processes["sensord"].start()
cls.events = read_sensor_events(5)
managed_processes["sensord"].stop()
def test_sensors_present(self):
# verify correct sensors configuration
events = read_sensor_events(10)
seen = set()
for event in events:
for event in self.events:
for measurement in event.sensorEvents:
# filter unset events (bmx magn)
if measurement.version == 0:
@@ -131,13 +134,11 @@ class TestSensord(unittest.TestCase):
self.assertIn(seen, SENSOR_CONFIGURATIONS)
@with_processes(['sensord'])
def test_lsm6ds3_100Hz(self):
# verify measurements are sampled and published at a 100Hz rate
events = read_sensor_events(3) # 3sec (about 300 measurements)
data_points = set()
for event in events:
for event in self.events:
for measurement in event.sensorEvents:
# skip lsm6ds3 temperature measurements
@@ -162,13 +163,11 @@ class TestSensord(unittest.TestCase):
stddev = np.std(tdiffs)
assert stddev < 1.5*10**6, f"Standard-dev to big {stddev}"
@with_processes(['sensord'])
def test_events_check(self):
# verify if all sensors produce events
events = read_sensor_events(3)
sensor_events = dict()
for event in events:
for event in self.events:
for measurement in event.sensorEvents:
# filter unset events (bmx magn)
@@ -184,13 +183,11 @@ class TestSensord(unittest.TestCase):
err_msg = f"Sensor {s}: 200 < {sensor_events[s]}"
assert sensor_events[s] > 200, err_msg
@with_processes(['sensord'])
def test_logmonottime_timestamp_diff(self):
# ensure diff between the message logMonotime and sample timestamp is small
events = read_sensor_events(3)
tdiffs = list()
for event in events:
for event in self.events:
for measurement in event.sensorEvents:
# filter unset events (bmx magn)
@@ -289,4 +286,3 @@ class TestSensord(unittest.TestCase):
if __name__ == "__main__":
unittest.main()