Add openpilot tests

system/camerad/test/.gitignore

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+jpegs/
+test_ae_gray

system/camerad/test/check_skips.py

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+#!/usr/bin/env python3
+# type: ignore
+import cereal.messaging as messaging
+
+all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState']
+prev_id = [None,None,None]
+this_id = [None,None,None]
+dt = [None,None,None]
+num_skipped = [0,0,0]
+
+if __name__ == "__main__":
+  sm = messaging.SubMaster(all_sockets)
+  while True:
+    sm.update()
+
+    for i in range(len(all_sockets)):
+      if not sm.updated[all_sockets[i]]:
+        continue
+      this_id[i] = sm[all_sockets[i]].frameId
+      if prev_id[i] is None:
+        prev_id[i] = this_id[i]
+        continue
+      dt[i] = this_id[i] - prev_id[i]
+      if dt[i] != 1:
+        num_skipped[i] += dt[i] - 1
+        print(all_sockets[i] ,dt[i] - 1, num_skipped[i])
+      prev_id[i] = this_id[i]

system/camerad/test/get_thumbnails_for_segment.py

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+#!/usr/bin/env python3
+import argparse
+import os
+from tqdm import tqdm
+
+from openpilot.tools.lib.logreader import LogReader
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("route", help="The route name")
+  args = parser.parse_args()
+
+  out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}")
+  os.makedirs(out_path, exist_ok=True)
+
+  lr = LogReader(args.route)
+
+  for msg in tqdm(lr):
+    if msg.which() == 'thumbnail':
+      with open(os.path.join(out_path, f"{msg.thumbnail.frameId}.jpg"), 'wb') as f:
+        f.write(msg.thumbnail.thumbnail)
+    elif msg.which() == 'navThumbnail':
+      with open(os.path.join(out_path, f"nav_{msg.navThumbnail.frameId}.jpg"), 'wb') as f:
+        f.write(msg.navThumbnail.thumbnail)

system/camerad/test/stress_restart.sh

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+#!/bin/sh
+cd ..
+while :; do
+  ./camerad &
+  pid="$!"
+  sleep 2
+  kill -2 $pid
+  wait $pid
+done

system/camerad/test/test_ae_gray.cc

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+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"
+
+#include <cassert>
+
+#include <cmath>
+#include <cstring>
+
+#include "common/util.h"
+#include "system/camerad/cameras/camera_common.h"
+
+#define W 240
+#define H 160
+
+
+#define TONE_SPLITS 3
+
+float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = {
+  0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969,
+  0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000,
+  0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000};
+
+
+TEST_CASE("camera.test_set_exposure_target") {
+  // set up fake camerabuf
+  CameraBuf cb = {};
+  VisionBuf vb = {};
+  uint8_t * fb_y = new uint8_t[W*H];
+  vb.y = fb_y;
+  cb.cur_yuv_buf = &vb;
+  cb.rgb_width = W;
+  cb.rgb_height = H;
+
+  printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height);
+
+  // mix of 5 tones
+  uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max
+
+  bool passed = true;
+  float rtol = 0.05;
+  // generate pattern and calculate EV
+  int cnt = 0;
+  for (int i_0=0; i_0<TONE_SPLITS; i_0++) {
+    for (int i_1=0; i_1<TONE_SPLITS; i_1++) {
+      for (int i_2=0; i_2<TONE_SPLITS; i_2++) {
+        for (int i_3=0; i_3<TONE_SPLITS; i_3++) {
+          int h_0 = i_0 * H / TONE_SPLITS;
+          int h_1 = i_1 * (H - h_0) / TONE_SPLITS;
+          int h_2 = i_2 * (H - h_0 - h_1) / TONE_SPLITS;
+          int h_3 = i_3 * (H - h_0 - h_1 - h_2) / TONE_SPLITS;
+          int h_4 = H - h_0 - h_1 - h_2 - h_3;
+          memset(&fb_y[0], l[0], h_0*W);
+          memset(&fb_y[h_0*W], l[1], h_1*W);
+          memset(&fb_y[h_0*W+h_1*W], l[2], h_2*W);
+          memset(&fb_y[h_0*W+h_1*W+h_2*W], l[3], h_3*W);
+          memset(&fb_y[h_0*W+h_1*W+h_2*W+h_3*W], l[4], h_4*W);
+          float ev = set_exposure_target((const CameraBuf*) &cb, 0, W-1, 1, 0, H-1, 1);
+          // printf("%d/%d/%d/%d/%d ev is %f\n", h_0, h_1, h_2, h_3, h_4, ev);
+          // printf("%f\n", ev);
+
+          // compare to gt
+          float evgt = gts[cnt];
+          if (fabs(ev - evgt) > rtol*evgt) {
+            passed = false;
+          }
+
+          // report
+          printf("%d/%d/%d/%d/%d: ev %f, gt %f, err %f\n", h_0, h_1, h_2, h_3, h_4, ev, evgt, fabs(ev - evgt) / (evgt != 0 ? evgt : 0.00001f));
+          cnt++;
+        }
+      }
+    }
+  }
+  assert(passed);
+
+  delete[] fb_y;
+}

system/camerad/test/test_camerad.py

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+#!/usr/bin/env python3
+import pytest
+import time
+import numpy as np
+from flaky import flaky
+from collections import defaultdict
+
+import cereal.messaging as messaging
+from cereal import log
+from cereal.services import SERVICE_LIST
+from openpilot.selfdrive.manager.process_config import managed_processes
+
+TEST_TIMESPAN = 30
+LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
+                       log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
+FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
+                       log.FrameData.ImageSensor.ox03c10: 1.0}
+
+CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+
+# TODO: this shouldn't be needed
+@flaky(max_runs=3)
+@pytest.mark.tici
+class TestCamerad:
+  def setup_method(self):
+    # run camerad and record logs
+    managed_processes['camerad'].start()
+    time.sleep(3)
+    socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
+
+    self.logs = defaultdict(list)
+    start_time = time.monotonic()
+    while time.monotonic()- start_time < TEST_TIMESPAN:
+      for cam, s in socks.items():
+        self.logs[cam] += messaging.drain_sock(s)
+      time.sleep(0.2)
+    managed_processes['camerad'].stop()
+
+    self.log_by_frame_id = defaultdict(list)
+    self.sensor_type = None
+    for cam, msgs in self.logs.items():
+      if self.sensor_type is None:
+        self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+      assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
+
+      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
+      assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+
+      for m in msgs:
+        self.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+
+    # strip beginning and end
+    for _ in range(3):
+      mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys())
+      del self.log_by_frame_id[mn]
+      del self.log_by_frame_id[mx]
+
+  def test_frame_skips(self):
+    skips = {}
+    frame_ids = self.log_by_frame_id.keys()
+    for frame_id in range(min(frame_ids), max(frame_ids)):
+      seen_cams = [msg.which() for msg in self.log_by_frame_id[frame_id]]
+      skip_cams = set(CAMERAS) - set(seen_cams)
+      if len(skip_cams):
+        skips[frame_id] = skip_cams
+    assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}"
+
+  def test_frame_sync(self):
+    frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()}
+    diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()}
+
+    def get_desc(fid, diff):
+      cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]]
+      return (diff, cam_times)
+    laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]}
+
+    def in_tol(diff):
+      return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type]
+    if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames):
+      print("TODO: handle camera out of sync")
+    else:
+      assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"

system/camerad/test/test_exposure.py

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+#!/usr/bin/env python3
+import time
+import unittest
+import numpy as np
+
+from openpilot.selfdrive.test.helpers import with_processes, phone_only
+from openpilot.system.camerad.snapshot.snapshot import get_snapshots
+
+TEST_TIME = 45
+REPEAT = 5
+
+class TestCamerad(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    pass
+
+  def _numpy_rgb2gray(self, im):
+    ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
+    return ret
+
+  def _is_exposure_okay(self, i, med_mean=None):
+    if med_mean is None:
+      med_mean = np.array([[0.2,0.4],[0.2,0.6]])
+    h, w = i.shape[:2]
+    i = i[h//10:9*h//10,w//10:9*w//10]
+    med_ex, mean_ex = med_mean
+    i = self._numpy_rgb2gray(i)
+    i_median = np.median(i) / 255.
+    i_mean = np.mean(i) / 255.
+    print([i_median, i_mean])
+    return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
+
+  @phone_only
+  @with_processes(['camerad'])
+  def test_camera_operation(self):
+    passed = 0
+    start = time.time()
+    while time.time() - start < TEST_TIME and passed < REPEAT:
+      rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
+      wpic, _ = get_snapshots(frame="wideRoadCameraState")
+
+      res = self._is_exposure_okay(rpic)
+      res = res and self._is_exposure_okay(dpic)
+      res = res and self._is_exposure_okay(wpic)
+
+      if passed > 0 and not res:
+        passed = -passed # fails test if any failure after first sus
+        break
+
+      passed += int(res)
+      time.sleep(2)
+    self.assertGreaterEqual(passed, REPEAT)
+
+if __name__ == "__main__":
+  unittest.main()