Add openpilot tests

system/camerad/test/test_exposure.py

@@ -0,0 +1,55 @@
+#!/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()