From 30a6fa35aafacbc999e915a78f3f45ec74f1b527 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 16 Jul 2023 14:39:34 -0700
Subject: [PATCH] mapsd: rendering tests (#28981)

* mapsd: rendering tests

* run

* speedup
old-commit-hash: e2b5d1e29a3efeefc0679e116e6f6e16a815425c
---
 Jenkinsfile                                   |  1 +
 selfdrive/navd/tests/test_map_renderer.py     | 65 +++++++++++++++++++
 system/hardware/tici/tests/test_power_draw.py | 12 ++--
 3 files changed, 70 insertions(+), 8 deletions(-)
 create mode 100755 selfdrive/navd/tests/test_map_renderer.py

diff --git a/Jenkinsfile b/Jenkinsfile
index 1f769d779..85c1d55e6 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -181,6 +181,7 @@ pipeline {
               ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
               ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test nav", "pytest selfdrive/navd/tests/"],
             ])
           }
         }
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
new file mode 100755
index 000000000..381f7ed0f
--- /dev/null
+++ b/selfdrive/navd/tests/test_map_renderer.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+import os
+import unittest
+
+import cereal.messaging as messaging
+from selfdrive.manager.process_config import managed_processes
+
+LLK_DECIMATION = 10
+
+
+def gen_llk():
+  msg = messaging.new_message('liveLocationKalman')
+  msg.liveLocationKalman.positionGeodetic = {'value': [32.7174, -117.16277, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.status = 'valid'
+  return msg
+
+
+class TestMapRenderer(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    assert "MAPBOX_TOKEN" in os.environ
+
+  def setUp(self):
+    self.sm = messaging.SubMaster(['mapRenderState'])
+    self.pm = messaging.PubMaster(['liveLocationKalman'])
+
+  def tearDown(self):
+    managed_processes['mapsd'].stop()
+
+  def _run_test(self, 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"
+
+    # run test
+    for i in range(20*LLK_DECIMATION):
+      frame_expected = (i+1) % LLK_DECIMATION == 0
+      prev_frame_id = self.sm['mapRenderState'].frameId
+
+      llk = gen_llk()
+      self.pm.send("liveLocationKalman", llk)
+      self.sm.update(200 if frame_expected else 10)
+      assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
+
+      if not frame_expected:
+        continue
+
+      # check output
+      assert self.sm.valid['mapRenderState'] == valid
+      assert 0. < self.sm['mapRenderState'].renderTime < 0.1
+      assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
+      assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
+
+  def test_with_internet(self):
+    self._run_test(True)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 7ec31670b..a35f231c4 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -13,6 +13,7 @@ from system.hardware import HARDWARE, TICI
 from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.manager.manager import manager_cleanup
+from selfdrive.navd.tests.test_map_renderer import gen_llk
 
 SAMPLE_TIME = 8   # seconds to sample power
 
@@ -35,17 +36,12 @@ PROCS = [
 ]
 
 def send_llk_msg(done):
+  # Send liveLocationKalman at 20Hz
   pm = messaging.PubMaster(['liveLocationKalman'])
-  msg = messaging.new_message('liveLocationKalman')
-  msg.liveLocationKalman.positionGeodetic = {'value': [32.7174, -117.16277, 0], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.status = 'valid'
-
-  # Send liveLocationKalman at 20hz
   while not done.is_set():
-    msg.clear_write_flag()
+    msg = gen_llk()
     pm.send('liveLocationKalman', msg)
-    time.sleep(1/20)
+    time.sleep(1/20.)
 
 
 class TestPowerDraw(unittest.TestCase):