dragonpilot beta3

date: 2023-08-22T14:21:17
commit: 6148ce3d77530281f890970718e9c42b2acc5ff1

selfdrive/test/fuzzy_generation.py

@@ -70,7 +70,7 @@ class FuzzyGenerator:
   def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: Optional[str] = None) -> st.SearchStrategy[Dict[str, Any]]:
     full_fill: List[str] = list(schema.non_union_fields)
     single_fill: List[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else []
-    return st.fixed_dictionaries(dict((field, self.generate_field(schema.fields[field])) for field in full_fill + single_fill))
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill})
 
   @classmethod
   def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> Dict[str, Any]:

selfdrive/test/setup_device_ci.sh

@@ -42,6 +42,13 @@ while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
   fi
+
+  if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
+    echo 'starting UI'
+    cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
+    /data/ciui.py &
+  fi
+
   sleep 5s
 done
 

selfdrive/test/test_onroad.py

@@ -69,7 +69,7 @@ PROCS.update({
      "./boardd": 19.0,
     "system.sensord.rawgps.rawgpsd": 1.0,
   }
-}[HARDWARE.get_device_type()])
+}.get(HARDWARE.get_device_type(), {}))
 
 TIMINGS = {
   # rtols: max/min, rsd
@@ -258,7 +258,7 @@ class TestOnroad(unittest.TestCase):
         cpu_ok = False
 
     # Ensure there's no missing procs
-    all_procs = set([p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning])
+    all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
     for p in all_procs:
       with self.subTest(proc=p):
         assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
@@ -282,7 +282,7 @@ class TestOnroad(unittest.TestCase):
     result += "-------------- Debayer Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [getattr(getattr(m, m.which()), "processingTime") for m in self.lr if 'CameraState' in m.which()]
+    ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
     self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}")
     result += f"execution time: min  {min(ts):.5f}s\n"
     result += f"execution time: max  {max(ts):.5f}s\n"
@@ -297,7 +297,7 @@ class TestOnroad(unittest.TestCase):
     result += "-----------------  SoF Timing ------------------\n"
     result += "------------------------------------------------\n"
     for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
-      ts = [getattr(getattr(m, m.which()), "timestampSof") for m in self.lr if name in m.which()]
+      ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()]
       d_ms = np.diff(ts) / 1e6
       d50 = np.abs(d_ms-50)
       self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}")
@@ -315,7 +315,7 @@ class TestOnroad(unittest.TestCase):
 
     cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.service_msgs[s]]
+      ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -335,7 +335,7 @@ class TestOnroad(unittest.TestCase):
       ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.service_msgs[s]]
+      ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"