Release 260111

system/camerad/test/check_skips.py

@@ -0,0 +1,27 @@
+#!/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/debug.sh

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+#echo 4294967295 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+
+# no CCI and UTIL, very spammy
+echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+#echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+
+sudo dmesg -C
+scons -u -j8 --minimal .
+export DEBUG_FRAMES=1
+export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+#export DISABLE_DRIVER=1
+export LOGPRINT=debug
+./camerad

system/camerad/test/get_thumbnails_for_segment.py

@@ -0,0 +1,24 @@
+#!/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/icp_debug.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+cd /sys/kernel/debug/tracing
+echo "" > trace
+echo 1 > tracing_on
+#echo Y > /sys/kernel/debug/camera_icp/a5_debug_q
+echo 0x1 > /sys/kernel/debug/camera_icp/a5_debug_type
+echo 1 > /sys/kernel/debug/tracing/events/camera/enable
+echo 0xffffffff > /sys/kernel/debug/camera_icp/a5_debug_lvl
+echo 1 > /sys/kernel/debug/tracing/events/camera/cam_icp_fw_dbg/enable
+
+cat /sys/kernel/debug/tracing/trace_pipe

system/camerad/test/intercept.sh

@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1 DEBUG_FRAMES=1 LOGPRINT=debug LD_PRELOAD=/data/tici_test_scripts/isp/interceptor/tmpioctl.so ./camerad

system/camerad/test/stress_restart.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+cd ..
+while :; do
+  ./camerad &
+  pid="$!"
+  sleep 2
+  kill -2 $pid
+  wait $pid
+done

system/camerad/test/test_camerad.py

@@ -0,0 +1,98 @@
+import os
+import time
+import pytest
+import numpy as np
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.tools.lib.log_time_series import msgs_to_time_series
+
+TEST_TIMESPAN = 10
+CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+
+
+def run_and_log(procs, services, duration):
+  logs = []
+
+  try:
+    for p in procs:
+      managed_processes[p].start()
+    socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
+
+    start_time = time.monotonic()
+    while time.monotonic() - start_time < duration:
+      for s in socks:
+        logs.extend(messaging.drain_sock(s))
+    for p in procs:
+      assert managed_processes[p].proc.is_alive()
+  finally:
+    for p in procs:
+      managed_processes[p].stop()
+
+  return logs
+
+@pytest.fixture(scope="module")
+def logs():
+  logs = run_and_log(["camerad", ], CAMERAS, TEST_TIMESPAN)
+  ts = msgs_to_time_series(logs)
+
+  for cam in CAMERAS:
+    expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+    cnt = len(ts[cam]['t'])
+    assert expected_frames*0.8 < cnt < expected_frames*1.2, f"unexpected frame count {cam}: {expected_frames=}, got {cnt}"
+
+    dts = np.abs(np.diff([ts[cam]['timestampSof']/1e6]) - 1000/SERVICE_LIST[cam].frequency)
+    assert (dts < 1.0).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+  return ts
+
+@pytest.mark.tici
+class TestCamerad:
+  def test_frame_skips(self, logs):
+    for c in CAMERAS:
+      assert set(np.diff(logs[c]['frameId'])) == {1, }, f"{c} has frame skips"
+
+  def test_frame_sync(self, logs):
+    n = range(len(logs['roadCameraState']['t'][:-10]))
+
+    frame_ids = {i: [logs[cam]['frameId'][i] for cam in CAMERAS] for i in n}
+    assert all(len(set(v)) == 1 for v in frame_ids.values()), "frame IDs not aligned"
+
+    frame_times = {i: [logs[cam]['timestampSof'][i] for cam in CAMERAS] for i in n}
+    diffs = {i: (max(ts) - min(ts))/1e6 for i, ts in frame_times.items()}
+
+    laggy_frames = {k: v for k, v in diffs.items() if v > 1.1}
+    assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
+
+  def test_sanity_checks(self, logs):
+    self._sanity_checks(logs)
+
+  def _sanity_checks(self, ts):
+    for c in CAMERAS:
+      assert c in ts
+      assert len(ts[c]['t']) > 20
+
+      # not a valid request id
+      assert 0 not in ts[c]['requestId']
+
+      # should monotonically increase
+      assert np.all(np.diff(ts[c]['frameId']) >= 1)
+      assert np.all(np.diff(ts[c]['requestId']) >= 1)
+
+      # EOF > SOF
+      assert np.all((ts[c]['timestampEof'] - ts[c]['timestampSof']) > 0)
+
+      # logMonoTime > SOF
+      assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7)
+      assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7)
+
+  def test_stress_test(self):
+    os.environ['SPECTRA_ERROR_PROB'] = '0.008'
+    logs = run_and_log(["camerad", ], CAMERAS, 10)
+    ts = msgs_to_time_series(logs)
+
+    # we should see some jumps from introduced errors
+    assert np.max([ np.max(np.diff(ts[c]['frameId'])) for c in CAMERAS ]) > 1
+    assert np.max([ np.max(np.diff(ts[c]['requestId'])) for c in CAMERAS ]) > 1
+
+    self._sanity_checks(ts)

system/camerad/test/test_exposure.py

@@ -0,0 +1,51 @@
+import time
+import numpy as np
+import pytest
+
+from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.system.camerad.snapshot.snapshot import get_snapshots
+
+TEST_TIME = 45
+REPEAT = 5
+
+@pytest.mark.tici
+class TestCamerad:
+  @classmethod
+  def setup_class(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]
+
+  @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)
+    assert passed >= REPEAT