On-device onroad CI test (#19792)

* start onroad test

* cpu usage test works

* nice print

* run in jenkins

* pretty reliable

* bump loggerd cpu usgae

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 5a9769020d

Jenkinsfile

@@ -114,7 +114,7 @@ pipeline {
                       ["build", "SCONS_CACHE=1 scons -j4"],
                       ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
                       ["test manager", "python selfdrive/test/test_manager.py"],
-                      ["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
                       ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
                       ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
                       ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],

release/files_common

@@ -333,7 +333,6 @@ selfdrive/thermald/power_monitoring.py
 selfdrive/test/__init__.py
 selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
-selfdrive/test/test_cpu_usage.py
 selfdrive/test/test_fingerprints.py
 selfdrive/test/test_manager.py
 

selfdrive/test/test_cpu_usage.py

@@ -1,108 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import sys
-import subprocess
-
-import cereal.messaging as messaging
-from common.basedir import BASEDIR
-from selfdrive.test.helpers import set_params_enabled
-
-def cputime_total(ct):
-  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
-
-
-def print_cpu_usage(first_proc, last_proc):
-  procs = [
-    ("selfdrive.controls.controlsd", 47.0),
-    ("./loggerd", 42.0),
-    ("selfdrive.locationd.locationd", 35.0),
-    ("selfdrive.locationd.paramsd", 12.0),
-    ("selfdrive.controls.plannerd", 20.0),
-    ("./_modeld", 7.12),
-    ("./camerad", 7.07),
-    ("./_sensord", 6.17),
-    ("./_ui", 5.82),
-    ("selfdrive.controls.radard", 5.67),
-    ("./boardd", 3.63),
-    ("./_dmonitoringmodeld", 2.67),
-    ("selfdrive.logmessaged", 1.7),
-    ("selfdrive.thermald.thermald", 2.41),
-    ("selfdrive.locationd.calibrationd", 2.0),
-    ("selfdrive.monitoring.dmonitoringd", 1.90),
-    ("./proclogd", 1.54),
-    ("./_gpsd", 0.09),
-    ("./clocksd", 0.02),
-    ("./ubloxd", 0.02),
-    ("selfdrive.tombstoned", 0),
-    ("./logcatd", 0),
-  ]
-
-  r = True
-  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
-  result = "------------------------------------------------\n"
-  for proc_name, normal_cpu_usage in procs:
-    try:
-      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
-      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
-      cpu_time = cputime_total(last) - cputime_total(first)
-      cpu_usage = cpu_time / dt * 100.
-      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
-        result += f"Warning {proc_name} using more CPU than normal\n"
-        r = False
-      elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
-        result += f"Warning {proc_name} using less CPU than normal\n"
-        r = False
-      result += f"{proc_name.ljust(35)}  {cpu_usage:.2f}%\n"
-    except IndexError:
-      result += f"{proc_name.ljust(35)}  NO METRICS FOUND\n"
-      r = False
-  result += "------------------------------------------------\n"
-  print(result)
-  return r
-
-def test_cpu_usage():
-  cpu_ok = False
-
-  # start manager
-  os.environ['SKIP_FW_QUERY'] = "1"
-  os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
-  manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
-  manager_proc = subprocess.Popen(["python", manager_path])
-  try:
-    proc_sock = messaging.sub_sock('procLog', conflate=True, timeout=2000)
-    cs_sock = messaging.sub_sock('controlsState')
-
-    # wait until everything's started
-    msg = None
-    start_time = time.monotonic()
-    while msg is None and time.monotonic() - start_time < 240:
-      msg = messaging.recv_sock(cs_sock)
-
-    # take first sample
-    time.sleep(15)
-    first_proc = messaging.recv_sock(proc_sock, wait=True)
-    if first_proc is None:
-      raise Exception("\n\nTEST FAILED: progLog recv timed out\n\n")
-
-    # run for a minute and get last sample
-    time.sleep(60)
-    last_proc = messaging.recv_sock(proc_sock, wait=True)
-    cpu_ok = print_cpu_usage(first_proc, last_proc)
-  finally:
-    manager_proc.terminate()
-    ret = manager_proc.wait(20)
-    if ret is None:
-      manager_proc.kill()
-  return cpu_ok
-
-if __name__ == "__main__":
-  set_params_enabled()
-
-  passed = False
-  try:
-    passed = test_cpu_usage()
-  except Exception as e:
-    print("\n\n\n", "TEST FAILED:", str(e), "\n\n\n")
-  finally:
-    sys.exit(int(not passed))

selfdrive/test/test_onroad.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+import unittest
+from pathlib import Path
+
+import cereal.messaging as messaging
+from common.basedir import BASEDIR
+from common.timeout import Timeout
+from selfdrive.loggerd.config import ROOT
+from selfdrive.test.helpers import set_params_enabled
+from tools.lib.logreader import LogReader
+
+PROCS = [
+  ("selfdrive.controls.controlsd", 47.0),
+  ("./loggerd", 45.0),
+  ("selfdrive.locationd.locationd", 35.0),
+  ("selfdrive.controls.plannerd", 20.0),
+  ("selfdrive.locationd.paramsd", 12.0),
+  ("./_modeld", 7.12),
+  ("./camerad", 7.07),
+  ("./_sensord", 6.17),
+  ("./_ui", 5.82),
+  ("selfdrive.controls.radard", 5.67),
+  ("./boardd", 3.63),
+  ("./_dmonitoringmodeld", 2.67),
+  ("selfdrive.logmessaged", 1.7),
+  ("selfdrive.thermald.thermald", 2.41),
+  ("selfdrive.locationd.calibrationd", 2.0),
+  ("selfdrive.monitoring.dmonitoringd", 1.90),
+  ("./proclogd", 1.54),
+  ("./_gpsd", 0.09),
+  ("./clocksd", 0.02),
+  ("./ubloxd", 0.02),
+  ("selfdrive.tombstoned", 0),
+  ("./logcatd", 0),
+]
+
+# ***** test helpers *****
+
+def cputime_total(ct):
+  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
+
+def check_cpu_usage(first_proc, last_proc):
+  result =  "------------------------------------------------\n"
+  result += "------------------ CPU Usage -------------------\n"
+  result += "------------------------------------------------\n"
+
+  r = True
+  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
+  for proc_name, normal_cpu_usage in PROCS:
+    first, last = None, None
+    try:
+      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
+      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
+      cpu_time = cputime_total(last) - cputime_total(first)
+      cpu_usage = cpu_time / dt * 100.
+      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
+        result += f"Warning {proc_name} using more CPU than normal\n"
+        r = False
+      elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
+        result += f"Warning {proc_name} using less CPU than normal\n"
+        r = False
+      result += f"{proc_name.ljust(35)}  {cpu_usage:.2f}%\n"
+    except IndexError:
+      result += f"{proc_name.ljust(35)}  NO METRICS FOUND {first=} {last=}\n"
+      r = False
+  result += "------------------------------------------------\n"
+  print(result)
+  return r
+
+
+class TestOnroad(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    os.environ['SKIP_FW_QUERY'] = "1"
+    os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+    set_params_enabled()
+
+    initial_segments = set(Path(ROOT).iterdir())
+
+    # start manager and run openpilot for a minute
+    try:
+      manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
+      proc = subprocess.Popen(["python", manager_path])
+
+      sm = messaging.SubMaster(['carState'])
+      with Timeout(60, "controls didn't start"):
+        while not sm.updated['carState']:
+          sm.update(1000)
+
+      time.sleep(60)
+    finally:
+      proc.terminate()
+      if proc.wait(20) is None:
+        proc.kill()
+
+    new_segments = set(Path(ROOT).iterdir()) - initial_segments
+
+    segments = [p for p in new_segments if len(list(p.iterdir())) > 1]
+    cls.segment = [s for s in segments if str(s).endswith("--0")][0]
+    cls.lr = list(LogReader(os.path.join(str(cls.segment), "rlog.bz2")))
+
+  def test_cpu_usage(self):
+    proclogs = [m for m in self.lr if m.which() == 'procLog']
+    cpu_ok = check_cpu_usage(proclogs[5], proclogs[-3])
+    self.assertTrue(cpu_ok)
+
+if __name__ == "__main__":
+  unittest.main()