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mapsd: more reliable test (#28985)

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* mapsd: more reliable test

* better wait

* should be good

* fix frame id

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2023-07-17 10:58:39 -07:00
committed by GitHub
parent 17e71cdf44
commit cd02ab6358
2 changed files with 23 additions and 16 deletions
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2
cereal

Submodule cereal updated: 5a822f43ca...cf9c5cbb91

37
selfdrive/navd/tests/test_map_renderer.py
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@@ -33,46 +33,53 @@ class TestMapRenderer(unittest.TestCase):
def tearDown(self):
managed_processes['mapsd'].stop()
def _run_test(self, valid):
def _run_test(self, expect_valid):
# start + sync up
managed_processes['mapsd'].start()
for _ in range(100):
self.pm.send("liveLocationKalman", gen_llk())
self.sm.update(100)
if self.sm.updated['mapRenderState']:
break
assert self.sm.updated['mapRenderState'], "renderer didn't start"
assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
# connect to vipc
assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
assert self.vipc.connect(False)
self.vipc.recv()
# run test
for i in range(20*LLK_DECIMATION):
prev_frame_id = -1
for i in range(30*LLK_DECIMATION):
frame_expected = (i+1) % LLK_DECIMATION == 0
prev_frame_id = self.sm['mapRenderState'].frameId
if self.sm.logMonoTime['mapRenderState'] == 0:
prev_valid = False
prev_frame_id = -1
else:
prev_frame_id = self.sm['mapRenderState'].frameId
prev_valid = self.sm.valid['mapRenderState']
llk = gen_llk()
self.pm.send("liveLocationKalman", llk)
self.sm.update(200 if frame_expected else 10)
self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
self.sm.update(1000 if frame_expected else 0)
assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
if not frame_expected:
continue
# give a few frames to go valid
if expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid and self.sm['mapRenderState'].frameId < 5:
continue
# check output
assert self.sm.valid['mapRenderState'] == valid
assert self.sm.valid['mapRenderState'] == expect_valid
assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
if not valid:
if not expect_valid:
assert self.sm['mapRenderState'].renderTime == 0.
else:
assert 0. < self.sm['mapRenderState'].renderTime < 0.1
# check vision ipc output
assert self.vipc.recv() is not None
assert self.vipc.valid == valid
assert self.vipc.valid == expect_valid
assert self.vipc.timestamp_sof == llk.logMonoTime
assert self.vipc.frame_id == self.sm['mapRenderState'].frameId