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test_onroad: relax first fid assertion (#36032)

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* fid

* test

* Revert "test"

This reverts commit 38e6635dd0b0b9fb9c08bcc3a74b9283207b0c2f.

* r

* Revert "r"

This reverts commit 4037a321f89af137a645345a0fffb73da6071c72.
This commit is contained in:
Maxime Desroches
2025-08-19 22:30:48 -07:00
committed by GitHub
parent d0069c136b
commit 63441c048c
1 changed files with 6 additions and 8 deletions
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selfdrive/test/test_onroad.py
+6 -8
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@@ -333,20 +333,18 @@ class TestOnroad:
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}
first_fid = {min(self.ts[c]['frameId']) for c in cams}
assert len(first_fid) == 1, "Cameras don't start on same frame ID"
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"
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 next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
# 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(self.ts[c]['frameId']) for c in cams}
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)
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()))