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timing tests (#22214)

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* timing tests

* tuning

* more tuning

* passes?

* increase min/max

* eon tuning

* more lax

* even more

* fix plannerd cpu

* should pass

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 369c5d5bff8d6635f86215540e3c34fc25d16998
This commit is contained in:
Adeeb Shihadeh
2021-09-13 21:12:25 -07:00
committed by GitHub
parent b3893511db
commit a9221d6eaf
1 changed files with 51 additions and 4 deletions
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selfdrive/test/test_onroad.py
+51 -4
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@@ -23,7 +23,7 @@ PROCS = {
"selfdrive.controls.controlsd": 50.0,
"./loggerd": 45.0,
"./locationd": 9.1,
"selfdrive.controls.plannerd": 27.0,
"selfdrive.controls.plannerd": 26.0,
"./_ui": 15.0,
"selfdrive.locationd.paramsd": 9.1,
"./camerad": 7.07,
@@ -53,15 +53,37 @@ if TICI:
PROCS.update({
"./loggerd": 60.0,
"selfdrive.controls.controlsd": 28.0,
"selfdrive.controls.plannerd": 15.0,
"./camerad": 31.0,
"./_ui": 21.0,
"selfdrive.controls.plannerd": 12.0,
"selfdrive.locationd.paramsd": 5.0,
"./_dmonitoringmodeld": 10.0,
"selfdrive.thermald.thermald": 1.5,
})
TIMINGS = {
# rtols: max/min, rsd
"can": [2.5, 0.35],
"pandaState": [2.5, 0.35],
"sendcan": [2.5, 0.35],
"carState": [2.5, 0.35],
"carControl": [2.5, 0.35],
"controlsState": [2.5, 0.35],
"lateralPlan": [2.5, 0.5],
"longitudinalPlan": [2.5, 0.5],
"roadCameraState": [1.5, 0.35],
"driverCameraState": [1.5, 0.35],
"modelV2": [2.5, 0.35],
"driverState": [2.5, 0.35],
"liveLocationKalman": [2.5, 0.35],
}
if TICI:
TIMINGS.update({
"wideRoadCameraState": [1.5, 0.35],
})
def cputime_total(ct):
return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@@ -102,6 +124,12 @@ class TestOnroad(unittest.TestCase):
@classmethod
def setUpClass(cls):
if "DEBUG" in os.environ:
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.bz2")), Path(ROOT).iterdir())
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
cls.lr = list(LogReader(os.path.join(segs[-2], "rlog.bz2")))
return
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
set_params_enabled()
@@ -160,13 +188,32 @@ class TestOnroad(unittest.TestCase):
cpu_ok = check_cpu_usage(proclogs[0], proclogs[-1])
self.assertTrue(cpu_ok)
def test_model_timings(self):
#TODO this went up when plannerd cpu usage increased, why?
def test_model_execution_timings(self):
# TODO: this went up when plannerd cpu usage increased, why?
cfgs = [("modelV2", 0.038, 0.036), ("driverState", 0.028, 0.026)]
for (s, instant_max, avg_max) in cfgs:
ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
self.assertLess(min(ts), instant_max, f"high '{s}' execution time: {min(ts)}")
self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
def test_timings(self):
print("\n\n")
print("="*25, "service timings", "="*25)
for s, (maxmin, rsd) in TIMINGS.items():
msgs = [m.logMonoTime for m in self.lr if m.which() == s]
if not len(msgs):
raise Exception(f"missing {s}")
ts = np.diff(msgs) / 1e9
dt = 1 / service_list[s].frequency
np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check")
self.assertLess(np.std(ts) / dt, rsd, msg=f"{s} - failed RSD timing check")
print(f"{s}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}")
print(f" {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}")
print("="*67)
if __name__ == "__main__":
unittest.main()