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firestar5683
72 lines
2.7 KiB
Python
72 lines
2.7 KiB
Python
from unittest.mock import Mock, patch
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import pytest
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from openpilot.selfdrive.controls.lib.cycle_timing import ControlCycleTiming, PHASES
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from openpilot.selfdrive.controls import controlsd
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def test_wait_is_separate_from_cpu_and_phases_sum_to_whole():
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wall = iter([0, 127_000_000, 128_000_000, 129_000_000, 130_000_000, 131_000_000])
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cpu = iter([0, 4_000_000, 5_000_000, 6_000_000, 7_000_000, 8_000_000])
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timer = ControlCycleTiming(wall_clock=lambda: next(wall), cpu_clock=lambda: next(cpu))
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timer.start()
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for _ in PHASES:
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timer.mark()
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report = timer.snapshot()
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assert timer.complete
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assert report[PHASES[0]] == {'wall_ms': 127., 'cpu_ms': 4.}
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assert sum(r['wall_ms'] for r in report.values()) == 131.
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assert sum(r['cpu_ms'] for r in report.values()) == 8.
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def test_new_cycle_does_not_report_previous_cycle_phases():
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wall = iter(range(20))
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cpu = iter(range(20))
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timer = ControlCycleTiming(wall_clock=lambda: next(wall), cpu_clock=lambda: next(cpu))
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timer.start()
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for _ in PHASES:
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timer.mark()
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timer.start()
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assert timer.snapshot() == {} and not timer.complete
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timer.mark()
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assert list(timer.snapshot()) == [PHASES[0]]
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assert not timer.complete
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def test_instrumentation_boundary_overflow_is_explicit_and_bounded():
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timer = ControlCycleTiming(wall_clock=lambda: 1, cpu_clock=lambda: 1)
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timer.start()
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for _ in range(len(PHASES) + 10):
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timer.mark()
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assert not timer.complete
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assert timer.overflow
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assert len(timer.snapshot()) == len(PHASES)
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def test_overrun_report_is_after_command_publication():
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owner = controlsd.Controls.__new__(controlsd.Controls)
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actions = []
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def calculate(**kwargs):
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actions.append('control')
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owner.control_cycle_timing.start()
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for _ in PHASES:
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owner.control_cycle_timing.mark()
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return object(), object()
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def report(*args, **kwargs):
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assert actions[-1] == 'publish'
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assert kwargs['control_phases_complete']
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assert set(kwargs['control_phases']) == set(PHASES)
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actions.append('report')
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rk = Mock()
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rk.monitor_time.side_effect = StopIteration
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stamps = iter((1, 10_000_001, 140_000_001, 141_000_001))
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with patch.object(owner, 'update', side_effect=lambda: actions.append('update')), \
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patch.object(owner, 'state_control', side_effect=calculate), \
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patch.object(owner, 'publish', side_effect=lambda *args: actions.append('publish')), \
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patch.object(controlsd, 'Ratekeeper', return_value=rk), \
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patch.object(controlsd.time, 'monotonic_ns', side_effect=lambda: next(stamps)), \
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patch.object(controlsd.cloudlog, 'event', side_effect=report), pytest.raises(StopIteration):
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owner.run()
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assert actions == ['update', 'control', 'publish', 'report']
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