Compile FrogPilot
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FrogAi
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#!/usr/bin/env python3
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import time
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import numpy as np
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import os
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import pytest
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import unittest
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import requests
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import threading
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import http.server
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import cereal.messaging as messaging
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from typing import Any
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from cereal.visionipc import VisionIpcClient, VisionStreamType
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from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman
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from openpilot.selfdrive.test.helpers import with_processes
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CACHE_PATH = "/data/mbgl-cache-navd.db"
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RENDER_FRAMES = 15
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DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
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LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
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LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
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class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
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INTERNET_ACTIVE = True
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def do_GET(self):
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if not self.INTERNET_ACTIVE:
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self.send_response(500)
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self.end_headers()
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return
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url = f'https://api.mapbox.com{self.path}'
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headers = dict(self.headers)
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headers["Host"] = "api.mapbox.com"
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r = requests.get(url, headers=headers, timeout=5)
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self.send_response(r.status_code)
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self.end_headers()
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self.wfile.write(r.content)
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def log_message(self, *args: Any) -> None:
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return
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def log_error(self, *args: Any) -> None:
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return
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class MapBoxInternetDisabledServer(threading.Thread):
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def run(self):
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self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler)
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self.port = self.server.server_port
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self.server.serve_forever()
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def stop(self):
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self.server.shutdown()
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def disable_internet(self):
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MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
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def enable_internet(self):
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MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
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class TestMapRenderer(unittest.TestCase):
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server: MapBoxInternetDisabledServer
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@classmethod
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def setUpClass(cls):
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assert "MAPBOX_TOKEN" in os.environ
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cls.original_token = os.environ["MAPBOX_TOKEN"]
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cls.server = MapBoxInternetDisabledServer()
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cls.server.start()
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time.sleep(0.5) # wait for server to startup
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@classmethod
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def tearDownClass(cls) -> None:
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cls.server.stop()
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def setUp(self):
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self.server.enable_internet()
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os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}'
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self.sm = messaging.SubMaster(['mapRenderState'])
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self.pm = messaging.PubMaster(['liveLocationKalman'])
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self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
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if os.path.exists(CACHE_PATH):
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os.remove(CACHE_PATH)
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def _setup_test(self):
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assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
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time.sleep(0.5)
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assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
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assert self.vipc.connect(False)
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self.vipc.recv()
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def _run_test(self, expect_valid, locations=LOCATION1_REPEATED):
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starting_frame_id = None
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render_times = []
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# run test
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prev_frame_id = -1
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for i, location in enumerate(locations):
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frame_expected = (i+1) % LLK_DECIMATION == 0
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if self.sm.logMonoTime['mapRenderState'] == 0:
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prev_valid = False
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prev_frame_id = -1
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else:
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prev_valid = self.sm.valid['mapRenderState']
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prev_frame_id = self.sm['mapRenderState'].frameId
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if starting_frame_id is None:
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starting_frame_id = prev_frame_id
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llk = generate_liveLocationKalman(location)
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self.pm.send("liveLocationKalman", llk)
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self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
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self.sm.update(1000 if frame_expected else 0)
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assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
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if not frame_expected:
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continue
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frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id
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# give a few frames to switch from valid to invalid, or vice versa
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invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid)
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valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid)
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if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 5:
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continue
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# check output
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assert self.sm.valid['mapRenderState'] == expect_valid
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assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
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assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
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if not expect_valid:
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assert self.sm['mapRenderState'].renderTime == 0.
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else:
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assert 0. < self.sm['mapRenderState'].renderTime < 0.1
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render_times.append(self.sm['mapRenderState'].renderTime)
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# check vision ipc output
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assert self.vipc.recv() is not None
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assert self.vipc.valid == expect_valid
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assert self.vipc.timestamp_sof == llk.logMonoTime
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assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
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assert frames_since_test_start >= RENDER_FRAMES
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return render_times
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@with_processes(["mapsd"])
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def test_with_internet(self):
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self._setup_test()
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self._run_test(True)
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@with_processes(["mapsd"])
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def test_with_no_internet(self):
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self.server.disable_internet()
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self._setup_test()
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self._run_test(False)
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@with_processes(["mapsd"])
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@pytest.mark.skip(reason="slow, flaky, and unlikely to break")
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def test_recover_from_no_internet(self):
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self._setup_test()
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self._run_test(True)
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self.server.disable_internet()
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# change locations to force mapsd to refetch
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self._run_test(False, LOCATION2_REPEATED)
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self.server.enable_internet()
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self._run_test(True, LOCATION2_REPEATED)
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@with_processes(["mapsd"])
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@pytest.mark.tici
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def test_render_time_distribution(self):
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self._setup_test()
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# from location1 -> location2 and back
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locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist()
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render_times = self._run_test(True, locations)
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_min = np.min(render_times)
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_max = np.max(render_times)
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_mean = np.mean(render_times)
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_median = np.median(render_times)
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_stddev = np.std(render_times)
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print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}")
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def assert_stat(stat, nominal, tol=0.3):
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tol = (nominal / (1+tol)), (nominal * (1+tol))
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self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}")
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assert_stat(_mean, 0.030)
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assert_stat(_median, 0.027)
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assert_stat(_stddev, 0.0078)
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self.assertLess(_max, 0.065)
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self.assertGreater(_min, 0.015)
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if __name__ == "__main__":
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unittest.main()
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