mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-14 19:44:05 +08:00
Merge remote-tracking branch 'comma/master' into sync-20250309
# Conflicts: # .github/workflows/ui_preview.yaml # common/params_keys.h # msgq_repo # opendbc_repo # panda # selfdrive/ui/qt/offroad/firehose.h # selfdrive/ui/tests/test_ui/run.py # system/manager/process_config.py
This commit is contained in:
DevTekVE
@@ -358,6 +358,7 @@ def migrate_cameraStates(msgs):
|
||||
|
||||
new_msg = messaging.new_message(msg.which())
|
||||
new_camera_state = getattr(new_msg, new_msg.which())
|
||||
new_camera_state.sensor = camera_state.sensor
|
||||
new_camera_state.frameId = encode_id
|
||||
new_camera_state.encodeId = encode_id
|
||||
# timestampSof was added later so it might be missing on some old segments
|
||||
|
||||
@@ -19,8 +19,8 @@ from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
|
||||
from openpilot.tools.lib.logreader import LogReader, save_log
|
||||
from openpilot.tools.lib.github_utils import GithubUtils
|
||||
|
||||
TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
|
||||
SEGMENT = 6
|
||||
TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404"
|
||||
SEGMENT = 4
|
||||
MAX_FRAMES = 100 if PC else 400
|
||||
|
||||
NO_MODEL = "NO_MODEL" in os.environ
|
||||
@@ -66,6 +66,8 @@ def generate_report(proposed, master, tmp, commit):
|
||||
(lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
|
||||
(lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
|
||||
(lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
|
||||
(lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"),
|
||||
(lambda x: get_idx_if_non_empty(x.meta.desireState, 4), "desireState.laneChangeRight"),
|
||||
(lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs")
|
||||
], "modelV2")
|
||||
DriverStateV2_Plots = zl([
|
||||
@@ -143,7 +145,8 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
|
||||
|
||||
def model_replay(lr, frs):
|
||||
# modeld is using frame pairs
|
||||
modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"})
|
||||
modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"},
|
||||
{"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"})
|
||||
dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
|
||||
|
||||
if not SEND_EXTRA_INPUTS:
|
||||
|
||||
@@ -571,7 +571,7 @@ CONFIGS = [
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="modeld",
|
||||
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"],
|
||||
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"],
|
||||
subs=["modelV2", "drivingModelData", "cameraOdometry"],
|
||||
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
|
||||
should_recv_callback=ModeldCameraSyncRcvCallback(),
|
||||
|
||||
@@ -1 +1 @@
|
||||
d343af55506b14a4011bfe43b2a49c7e3c387d75
|
||||
465979047295dad5da3a552db9227ed776a26a79
|
||||
@@ -12,10 +12,9 @@ from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKE
|
||||
check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
|
||||
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
|
||||
from openpilot.selfdrive.test.update_ci_routes import upload_route
|
||||
from openpilot.tools.lib.route import Route
|
||||
from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
|
||||
from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
|
||||
|
||||
from openpilot.tools.lib.openpilotci import get_url
|
||||
|
||||
class DummyFrameReader(BaseFrameReader):
|
||||
def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
|
||||
@@ -55,45 +54,28 @@ def regen_segment(
|
||||
|
||||
|
||||
def setup_data_readers(
|
||||
route: str, sidx: int, use_route_meta: bool,
|
||||
needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
|
||||
route: str, sidx: int, needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
|
||||
) -> tuple[LogReader, dict[str, Any]]:
|
||||
if use_route_meta:
|
||||
r = Route(route)
|
||||
lr = LogReader(r.log_paths()[sidx])
|
||||
frs = {}
|
||||
if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
|
||||
frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
|
||||
if needs_road_cam and len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
|
||||
frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
|
||||
if needs_driver_cam:
|
||||
if dummy_driver_cam:
|
||||
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
|
||||
elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
|
||||
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
|
||||
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
|
||||
frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
|
||||
else:
|
||||
lr = LogReader(f"{route}/{sidx}/r")
|
||||
frs = {}
|
||||
if needs_road_cam:
|
||||
frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
|
||||
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
|
||||
frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
|
||||
if needs_driver_cam:
|
||||
if dummy_driver_cam:
|
||||
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
|
||||
else:
|
||||
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
|
||||
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
|
||||
frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
|
||||
lr = LogReader(f"{route}/{sidx}/r")
|
||||
frs = {}
|
||||
if needs_road_cam:
|
||||
frs['roadCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc"))
|
||||
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
|
||||
frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
|
||||
if needs_driver_cam:
|
||||
if dummy_driver_cam:
|
||||
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
|
||||
else:
|
||||
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
|
||||
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
|
||||
frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "dcamera.hevc"))
|
||||
|
||||
return lr, frs
|
||||
|
||||
|
||||
def regen_and_save(
|
||||
route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA,
|
||||
upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
|
||||
upload: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
|
||||
) -> str:
|
||||
if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
|
||||
raise ValueError("whitelist_proc must be a string or iterable")
|
||||
@@ -110,7 +92,7 @@ def regen_and_save(
|
||||
replayed_processes = CONFIGS
|
||||
|
||||
all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
|
||||
lr, frs = setup_data_readers(route, sidx, use_route_meta,
|
||||
lr, frs = setup_data_readers(route, sidx,
|
||||
needs_driver_cam="driverCameraState" in all_vision_pubs,
|
||||
needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
|
||||
dummy_driver_cam=dummy_driver_cam)
|
||||
|
||||
@@ -17,7 +17,7 @@ def regen_job(segment, upload, disable_tqdm):
|
||||
sn = SegmentName(segment[1])
|
||||
fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
|
||||
try:
|
||||
relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
|
||||
relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload,
|
||||
outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
|
||||
relr = '|'.join(relr.split('/')[-2:])
|
||||
return f' ("{segment[0]}", "{relr}"), '
|
||||
|
||||
@@ -44,22 +44,22 @@ source_segments = [
|
||||
|
||||
segments = [
|
||||
("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
|
||||
("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
|
||||
("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
|
||||
("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
|
||||
("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
|
||||
("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
|
||||
("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
|
||||
("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
|
||||
("HONDA", "regenC8F0D6ADC5C|2024-08-30--02-54-01--0"),
|
||||
("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
|
||||
("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
|
||||
("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
|
||||
("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
|
||||
("SUBARU", "regenAA1FF48CF1F|2024-08-30--03-06-45--0"),
|
||||
("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
|
||||
("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
|
||||
("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
|
||||
("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
|
||||
("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
|
||||
("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
|
||||
("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
|
||||
("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
|
||||
("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
|
||||
]
|
||||
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
import math
|
||||
import json
|
||||
import os
|
||||
import pathlib
|
||||
import psutil
|
||||
import pytest
|
||||
import shutil
|
||||
import subprocess
|
||||
@@ -12,7 +10,7 @@ from collections import Counter, defaultdict
|
||||
from pathlib import Path
|
||||
from tabulate import tabulate
|
||||
|
||||
from cereal import car, log
|
||||
from cereal import log
|
||||
import cereal.messaging as messaging
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
@@ -23,6 +21,7 @@ from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
from openpilot.tools.lib.log_time_series import msgs_to_time_series
|
||||
|
||||
"""
|
||||
CPU usage budget
|
||||
@@ -112,6 +111,7 @@ def cputime_total(ct):
|
||||
|
||||
|
||||
@pytest.mark.tici
|
||||
@pytest.mark.skip_tici_setup
|
||||
class TestOnroad:
|
||||
|
||||
@classmethod
|
||||
@@ -119,7 +119,8 @@ class TestOnroad:
|
||||
if "DEBUG" in os.environ:
|
||||
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir())
|
||||
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
|
||||
cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst")))
|
||||
cls.lr = list(LogReader(os.path.join(segs[-1], "rlog.zst")))
|
||||
cls.ts = msgs_to_time_series(cls.lr)
|
||||
return
|
||||
|
||||
# setup env
|
||||
@@ -140,44 +141,31 @@ class TestOnroad:
|
||||
proc = subprocess.Popen(["python", manager_path])
|
||||
|
||||
sm = messaging.SubMaster(['carState'])
|
||||
with Timeout(150, "controls didn't start"):
|
||||
while sm.recv_frame['carState'] < 0:
|
||||
with Timeout(30, "controls didn't start"):
|
||||
while not sm.seen['carState']:
|
||||
sm.update(1000)
|
||||
|
||||
route = None
|
||||
cls.segments = []
|
||||
with Timeout(300, "timed out waiting for logs"):
|
||||
while route is None:
|
||||
route = params.get("CurrentRoute", encoding="utf-8")
|
||||
time.sleep(0.01)
|
||||
route = params.get("CurrentRoute", encoding="utf-8")
|
||||
assert route is not None
|
||||
|
||||
# test car params caching
|
||||
params.put("CarParamsCache", car.CarParams().to_bytes())
|
||||
|
||||
while len(cls.segments) < 1:
|
||||
segs = set()
|
||||
if Path(Paths.log_root()).exists():
|
||||
segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
|
||||
cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
|
||||
time.sleep(0.01)
|
||||
segs = list(Path(Paths.log_root()).glob(f"{route}--*"))
|
||||
assert len(segs) == 1
|
||||
|
||||
time.sleep(TEST_DURATION)
|
||||
|
||||
finally:
|
||||
cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
|
||||
|
||||
if proc is not None:
|
||||
proc.terminate()
|
||||
if proc.wait(60) is None:
|
||||
proc.kill()
|
||||
|
||||
cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.zst"))) for s in cls.segments]
|
||||
|
||||
cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog.zst")))
|
||||
cls.log_path = cls.segments[0]
|
||||
cls.lr = list(LogReader(os.path.join(str(segs[0]), "rlog.zst")))
|
||||
st = time.monotonic()
|
||||
cls.ts = msgs_to_time_series(cls.lr)
|
||||
print("msgs to time series", time.monotonic() - st)
|
||||
log_path = segs[0]
|
||||
|
||||
cls.log_sizes = {}
|
||||
for f in cls.log_path.iterdir():
|
||||
for f in log_path.iterdir():
|
||||
assert f.is_file()
|
||||
cls.log_sizes[f] = f.stat().st_size / 1e6
|
||||
|
||||
@@ -198,7 +186,7 @@ class TestOnroad:
|
||||
assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
|
||||
|
||||
def test_manager_starting_time(self):
|
||||
st = self.msgs['managerState'][0].logMonoTime / 1e9
|
||||
st = self.ts['managerState']['t'][0]
|
||||
assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
|
||||
|
||||
def test_cloudlog_size(self):
|
||||
@@ -226,7 +214,7 @@ class TestOnroad:
|
||||
result += "-------------- UI Draw Timing ------------------\n"
|
||||
result += "------------------------------------------------\n"
|
||||
|
||||
ts = [m.uiDebug.drawTimeMillis for m in self.msgs['uiDebug']]
|
||||
ts = self.ts['uiDebug']['drawTimeMillis']
|
||||
result += f"min {min(ts):.2f}ms\n"
|
||||
result += f"max {max(ts):.2f}ms\n"
|
||||
result += f"std {np.std(ts):.2f}ms\n"
|
||||
@@ -309,9 +297,6 @@ class TestOnroad:
|
||||
assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
|
||||
assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
|
||||
|
||||
def test_gpu_usage(self):
|
||||
assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
|
||||
|
||||
def test_camera_frame_timings(self, subtests):
|
||||
# test timing within a single camera
|
||||
result = "\n"
|
||||
@@ -319,7 +304,7 @@ class TestOnroad:
|
||||
result += "----------------- SOF Timing ------------------\n"
|
||||
result += "------------------------------------------------\n"
|
||||
for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
|
||||
ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()]
|
||||
ts = self.ts[name]['timestampSof']
|
||||
d_ms = np.diff(ts) / 1e6
|
||||
d50 = np.abs(d_ms-50)
|
||||
result += f"{name} sof delta vs 50ms: min {min(d50):.2f}ms\n"
|
||||
@@ -338,35 +323,51 @@ class TestOnroad:
|
||||
# sanity checks within a single cam
|
||||
for cam in cams:
|
||||
with subtests.test(test="frame_skips", camera=cam):
|
||||
cam_log = [getattr(x, x.which()) for x in self.msgs[cam]]
|
||||
assert set(np.diff([x.frameId for x in cam_log])) == {1, }, "Frame ID skips"
|
||||
assert set(np.diff(self.ts[cam]['frameId'])) == {1, }, "Frame ID skips"
|
||||
|
||||
# EOF > SOF
|
||||
eof_sof_diff = np.array([x.timestampEof - x.timestampSof for x in cam_log])
|
||||
eof_sof_diff = self.ts[cam]['timestampEof'] - self.ts[cam]['timestampSof']
|
||||
assert np.all(eof_sof_diff > 0)
|
||||
assert np.all(eof_sof_diff < 50*1e6)
|
||||
|
||||
fid = {c: [getattr(m, m.which()).frameId for m in self.msgs[c]] for c in cams}
|
||||
first_fid = [min(x) for x in fid.values()]
|
||||
first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
|
||||
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) == {0, }, "Cameras don't start on frame ID 0"
|
||||
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)) == 1, "Cameras don't start on same frame ID"
|
||||
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
|
||||
|
||||
# we don't do a full segment rotation, so these might not match exactly
|
||||
last_fid = [max(x) for x in fid.values()]
|
||||
assert max(last_fid) - min(last_fid) < 10
|
||||
last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
|
||||
assert max(last_fid.values()) - min(last_fid.values()) < 10
|
||||
|
||||
start, end = min(first_fid), min(last_fid)
|
||||
all_ts = [[getattr(m, m.which()).timestampSof for m in self.msgs[c]] for c in cams]
|
||||
start, end = min(first_fid.values()), min(last_fid.values())
|
||||
for i in range(end-start):
|
||||
ts = [round(x[i]/1e6, 1) for x in all_ts]
|
||||
diff = max(ts) - min(ts)
|
||||
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
|
||||
diff = (max(ts.values()) - min(ts.values()))
|
||||
assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
|
||||
|
||||
def test_camera_encoder_matches(self, subtests):
|
||||
# sanity check that the frame metadata is consistent with the encoded frames
|
||||
pairs = [('roadCameraState', 'roadEncodeIdx'),
|
||||
('wideRoadCameraState', 'wideRoadEncodeIdx'),
|
||||
('driverCameraState', 'driverEncodeIdx')]
|
||||
for cam, enc in pairs:
|
||||
with subtests.test(camera=cam, encoder=enc):
|
||||
cam_frames = {fid: (sof, eof) for fid, sof, eof in zip(
|
||||
self.ts[cam]['frameId'],
|
||||
self.ts[cam]['timestampSof'],
|
||||
self.ts[cam]['timestampEof'],
|
||||
strict=True,
|
||||
)}
|
||||
for i, fid in enumerate(self.ts[enc]['frameId']):
|
||||
cam_sof, cam_eof = cam_frames[fid]
|
||||
enc_sof, enc_eof = self.ts[enc]['timestampSof'][i], self.ts[enc]['timestampEof'][i]
|
||||
assert enc_sof == cam_sof, f"SOF mismatch: frameId={fid}, enc_sof={enc_sof}, cam_sof={cam_sof}"
|
||||
assert enc_eof == cam_eof, f"EOF mismatch: frameId={fid}, enc_eof={enc_eof}, cam_eof={cam_eof}"
|
||||
|
||||
def test_mpc_execution_timings(self):
|
||||
result = "\n"
|
||||
result += "------------------------------------------------\n"
|
||||
@@ -438,12 +439,7 @@ class TestOnroad:
|
||||
|
||||
@release_only
|
||||
def test_startup(self):
|
||||
startup_alert = None
|
||||
for msg in self.lrs[0]:
|
||||
# can't use onroadEvents because the first msg can be dropped while loggerd is starting up
|
||||
if msg.which() == "selfdriveState":
|
||||
startup_alert = msg.selfdriveState.alertText1
|
||||
break
|
||||
startup_alert = self.ts['selfdriveState']['alertText1'][0]
|
||||
expected = EVENTS[log.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
|
||||
assert startup_alert == expected, "wrong startup alert"
|
||||
|
||||
|
||||
Reference in New Issue
Block a user