mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-14 19:44:05 +08:00
ZwX1616
c73d4e5fc6
* Revert "fullframe DM: flip RHD yaw to use matching thresholds" This reverts commit ce7daabc8847d18ba46e5d1879f5a6958d04ccc7. * Revert "fullframe DM model (#24762)" This reverts commit 817be81fb19004f4873881f6b29dcdfffbe7e3a8. * revert cereal old-commit-hash: c646eeee0ac54925db5afc51b95c5d869d6dba68
71 lines
1.5 KiB
Python
Executable File
71 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import unittest
|
|
import time
|
|
import math
|
|
from dataclasses import dataclass
|
|
|
|
from selfdrive.hardware import HARDWARE, TICI
|
|
from selfdrive.hardware.tici.power_monitor import get_power
|
|
from selfdrive.manager.process_config import managed_processes
|
|
from selfdrive.manager.manager import manager_cleanup
|
|
|
|
|
|
@dataclass
|
|
class Proc:
|
|
name: str
|
|
power: float
|
|
rtol: float = 0.05
|
|
atol: float = 0.1
|
|
warmup: float = 6.
|
|
|
|
PROCS = [
|
|
Proc('camerad', 2.15),
|
|
Proc('modeld', 1.0),
|
|
Proc('dmonitoringmodeld', 0.25),
|
|
Proc('encoderd', 0.23),
|
|
]
|
|
|
|
|
|
class TestPowerDraw(unittest.TestCase):
|
|
|
|
@classmethod
|
|
def setUpClass(cls):
|
|
if not TICI:
|
|
raise unittest.SkipTest
|
|
|
|
def setUp(self):
|
|
HARDWARE.initialize_hardware()
|
|
HARDWARE.set_power_save(False)
|
|
|
|
def tearDown(self):
|
|
manager_cleanup()
|
|
|
|
def test_camera_procs(self):
|
|
baseline = get_power()
|
|
|
|
prev = baseline
|
|
used = {}
|
|
for proc in PROCS:
|
|
managed_processes[proc.name].start()
|
|
time.sleep(proc.warmup)
|
|
|
|
now = get_power(8)
|
|
used[proc.name] = now - prev
|
|
prev = now
|
|
|
|
manager_cleanup()
|
|
|
|
print("-"*35)
|
|
print(f"Baseline {baseline:.2f}W\n")
|
|
for proc in PROCS:
|
|
cur = used[proc.name]
|
|
expected = proc.power
|
|
print(f"{proc.name.ljust(20)} {expected:.2f}W {cur:.2f}W")
|
|
with self.subTest(proc=proc.name):
|
|
self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
|
|
print("-"*35)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|