mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-30 19:33:45 +08:00
openpilot v0.8.11 release
This commit is contained in:
Vehicle Researcher
@@ -58,36 +58,38 @@ def check_can_ignition_conflicts(fingerprints, brands):
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sys.exit(1)
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fingerprints = _get_fingerprints()
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fingerprints_flat = []
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car_names = []
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brand_names = []
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for brand in fingerprints:
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for car in fingerprints[brand]:
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fingerprints_flat += fingerprints[brand][car]
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for i in range(len(fingerprints[brand][car])):
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car_names.append(car)
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brand_names.append(brand)
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if __name__ == "__main__":
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fingerprints = _get_fingerprints()
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# first check if CAN ignition specific messages are unexpectedly included in other fingerprints
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check_can_ignition_conflicts(fingerprints_flat, brand_names)
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fingerprints_flat = []
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car_names = []
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brand_names = []
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for brand in fingerprints:
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for car in fingerprints[brand]:
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fingerprints_flat += fingerprints[brand][car]
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for i in range(len(fingerprints[brand][car])):
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car_names.append(car)
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brand_names.append(brand)
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valid = True
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for idx1, f1 in enumerate(fingerprints_flat):
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for idx2, f2 in enumerate(fingerprints_flat):
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if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
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valid = False
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print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2]))
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print("")
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print(', '.join("%d: %d" % v for v in sorted(f1.items())))
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print("")
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print(', '.join("%d: %d" % v for v in sorted(f2.items())))
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print("")
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# first check if CAN ignition specific messages are unexpectedly included in other fingerprints
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check_can_ignition_conflicts(fingerprints_flat, brand_names)
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print("Found {0} individual fingerprints".format(len(fingerprints_flat)))
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if not valid or len(fingerprints_flat) == 0:
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print("TEST FAILED")
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sys.exit(1)
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else:
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print("TEST SUCESSFUL")
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valid = True
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for idx1, f1 in enumerate(fingerprints_flat):
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for idx2, f2 in enumerate(fingerprints_flat):
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if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
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valid = False
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print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2]))
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print("")
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print(', '.join("%d: %d" % v for v in sorted(f1.items())))
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print("")
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print(', '.join("%d: %d" % v for v in sorted(f2.items())))
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print("")
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print("Found {0} individual fingerprints".format(len(fingerprints_flat)))
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if not valid or len(fingerprints_flat) == 0:
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print("TEST FAILED")
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sys.exit(1)
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else:
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print("TEST SUCESSFUL")
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@@ -36,7 +36,7 @@ PROCS = {
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"./_dmonitoringmodeld": 2.67,
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"selfdrive.thermald.thermald": 2.41,
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"selfdrive.locationd.calibrationd": 2.0,
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"./_soundd": 2.0,
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"./_soundd": 1.0,
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"selfdrive.monitoring.dmonitoringd": 1.90,
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"./proclogd": 1.54,
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"selfdrive.logmessaged": 0.2,
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@@ -56,7 +56,7 @@ if TICI:
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"./loggerd": 70.0,
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"selfdrive.controls.controlsd": 28.0,
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"./camerad": 31.0,
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"./_ui": 21.0,
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"./_ui": 30.2,
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"selfdrive.controls.plannerd": 11.7,
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"./_dmonitoringmodeld": 10.0,
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"selfdrive.locationd.paramsd": 5.0,
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@@ -82,6 +82,10 @@ TIMINGS = {
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"driverState": [2.5, 0.35],
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"liveLocationKalman": [2.5, 0.35],
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}
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if EON:
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TIMINGS.update({
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"roadCameraState": [2.5, 0.45],
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})
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if TICI:
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TIMINGS.update({
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"wideRoadCameraState": [1.5, 0.35],
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@@ -93,7 +97,8 @@ def cputime_total(ct):
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def check_cpu_usage(first_proc, last_proc):
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result = "------------------------------------------------\n"
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result = "\n"
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result += "------------------------------------------------\n"
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result += "------------------ CPU Usage -------------------\n"
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result += "------------------------------------------------\n"
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@@ -108,10 +113,9 @@ def check_cpu_usage(first_proc, last_proc):
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cpu_usage = cpu_time / dt * 100.
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if cpu_usage > max(normal_cpu_usage * 1.15, normal_cpu_usage + 5.0):
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# cpu usage is high while playing sounds
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if proc_name == "./_soundd" and cpu_usage < 25.:
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continue
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result += f"Warning {proc_name} using more CPU than normal\n"
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r = False
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if not (proc_name == "./_soundd" and cpu_usage < 65.):
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result += f"Warning {proc_name} using more CPU than normal\n"
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r = False
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elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
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result += f"Warning {proc_name} using less CPU than normal\n"
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r = False
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@@ -134,6 +138,7 @@ class TestOnroad(unittest.TestCase):
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cls.lr = list(LogReader(os.path.join(segs[-1], "rlog.bz2")))
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return
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os.environ['REPLAY'] = "1"
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os.environ['SKIP_FW_QUERY'] = "1"
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os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
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set_params_enabled()
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@@ -196,7 +201,8 @@ class TestOnroad(unittest.TestCase):
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self.assertTrue(cpu_ok)
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def test_model_execution_timings(self):
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result = "------------------------------------------------\n"
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result = "\n"
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result += "------------------------------------------------\n"
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result += "----------------- Model Timing -----------------\n"
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result += "------------------------------------------------\n"
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# TODO: this went up when plannerd cpu usage increased, why?
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@@ -207,12 +213,15 @@ class TestOnroad(unittest.TestCase):
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self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
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result += f"'{s}' execution time: {min(ts)}\n"
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result += f"'{s}' avg execution time: {np.mean(ts)}\n"
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result += "------------------------------------------------\n"
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print(result)
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def test_timings(self):
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print("\n\n")
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print("="*25, "service timings", "="*25)
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passed = True
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result = "\n"
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result += "------------------------------------------------\n"
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result += "----------------- Service Timings --------------\n"
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result += "------------------------------------------------\n"
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for s, (maxmin, rsd) in TIMINGS.items():
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msgs = [m.logMonoTime for m in self.lr if m.which() == s]
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if not len(msgs):
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@@ -221,12 +230,22 @@ class TestOnroad(unittest.TestCase):
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ts = np.diff(msgs) / 1e9
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dt = 1 / service_list[s].frequency
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np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
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np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
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self.assertLess(np.std(ts) / dt, rsd, msg=f"{s} - failed RSD timing check")
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print(f"{s}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}")
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print(f" {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}")
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print("="*67)
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try:
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np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
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np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
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except Exception as e:
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result += str(e) + "\n"
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passed = False
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if np.std(ts) / dt > rsd:
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result += f"{s} - failed RSD timing check\n"
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passed = False
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result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n"
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result += f"{''.ljust(40)} {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n"
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result += "="*67
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print(result)
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self.assertTrue(passed)
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@release_only
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def test_startup(self):
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