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Check msg count in test_power_draw (#28444)

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* Check msg count in test_power_draw.

* Use drain_sock

* Bug fix

* Combine into a single table

* Check camera state msgs and no default value for Proc.msgs

* Update system/hardware/tici/tests/test_power_draw.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 729d3ddcb55a294f244304e0d455424ce85c84a8
This commit is contained in:
Mitchell Goff
2023-06-07 14:06:11 -07:00
committed by GitHub
parent 5e2017e67c
commit 8150598441
1 changed files with 23 additions and 10 deletions
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system/hardware/tici/tests/test_power_draw.py
+23 -10
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@@ -5,29 +5,33 @@ import math
import threading
from dataclasses import dataclass
from tabulate import tabulate
from typing import List
import cereal.messaging as messaging
from cereal.services import service_list
from system.hardware import HARDWARE, TICI
from system.hardware.tici.power_monitor import get_power
from selfdrive.manager.process_config import managed_processes
from selfdrive.manager.manager import manager_cleanup
SAMPLE_TIME = 8 # seconds to sample power
@dataclass
class Proc:
name: str
power: float
msgs: List[str]
rtol: float = 0.05
atol: float = 0.12
warmup: float = 6.
PROCS = [
Proc('camerad', 2.1),
Proc('modeld', 0.93, atol=0.2),
Proc('dmonitoringmodeld', 0.4),
Proc('encoderd', 0.23),
Proc('mapsd', 0.05),
Proc('navmodeld', 0.05),
Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']),
Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
Proc('encoderd', 0.23, msgs=[]),
Proc('mapsd', 0.05, msgs=['mapRenderState']),
Proc('navmodeld', 0.05, msgs=['navModel']),
]
def send_llk_msg(done):
@@ -39,6 +43,7 @@ def send_llk_msg(done):
# Send liveLocationKalman at 20hz
while not done.is_set():
msg.clear_write_flag()
pm.send('liveLocationKalman', msg)
time.sleep(1/20)
@@ -68,25 +73,33 @@ class TestPowerDraw(unittest.TestCase):
prev = baseline
used = {}
msg_counts = {}
for proc in PROCS:
socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
managed_processes[proc.name].start()
time.sleep(proc.warmup)
for sock in socks.values():
messaging.drain_sock_raw(sock)
now = get_power(8)
now = get_power(SAMPLE_TIME)
used[proc.name] = now - prev
prev = now
for msg,sock in socks.items():
msg_counts[msg] = len(messaging.drain_sock_raw(sock))
done.set()
manager_cleanup()
tab = []
tab.append(['process', 'expected (W)', 'measured (W)'])
tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
for proc in PROCS:
cur = used[proc.name]
expected = proc.power
tab.append([proc.name, round(expected, 2), round(cur, 2)])
msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
with self.subTest(proc=proc.name):
self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2))
print(tabulate(tab))
print(f"Baseline {baseline:.2f}W\n")