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On-device onroad CI test (#19792) 

* start onroad test

* cpu usage test works

* nice print

* run in jenkins

* pretty reliable

* bump loggerd cpu usgae

Co-authored-by: Comma Device <device@comma.ai>
pull/19803/head
Adeeb Shihadeh 2021-01-16 18:11:53 -08:00 committed by GitHub
parent 7c82bac27e
commit 5a9769020d
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 113 additions and 110 deletions
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2
Jenkinsfile vendored
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@ -114,7 +114,7 @@ pipeline {
["build", "SCONS_CACHE=1 scons -j4"],
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
["test manager", "python selfdrive/test/test_manager.py"],
["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],

1
release/files_common
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@ -333,7 +333,6 @@ selfdrive/thermald/power_monitoring.py
selfdrive/test/__init__.py
selfdrive/test/helpers.py
selfdrive/test/setup_device_ci.sh
selfdrive/test/test_cpu_usage.py
selfdrive/test/test_fingerprints.py
selfdrive/test/test_manager.py

108
selfdrive/test/test_cpu_usage.py
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@ -1,108 +0,0 @@
#!/usr/bin/env python3
import os
import time
import sys
import subprocess
import cereal.messaging as messaging
from common.basedir import BASEDIR
from selfdrive.test.helpers import set_params_enabled
def cputime_total(ct):
return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
def print_cpu_usage(first_proc, last_proc):
procs = [
("selfdrive.controls.controlsd", 47.0),
("./loggerd", 42.0),
("selfdrive.locationd.locationd", 35.0),
("selfdrive.locationd.paramsd", 12.0),
("selfdrive.controls.plannerd", 20.0),
("./_modeld", 7.12),
("./camerad", 7.07),
("./_sensord", 6.17),
("./_ui", 5.82),
("selfdrive.controls.radard", 5.67),
("./boardd", 3.63),
("./_dmonitoringmodeld", 2.67),
("selfdrive.logmessaged", 1.7),
("selfdrive.thermald.thermald", 2.41),
("selfdrive.locationd.calibrationd", 2.0),
("selfdrive.monitoring.dmonitoringd", 1.90),
("./proclogd", 1.54),
("./_gpsd", 0.09),
("./clocksd", 0.02),
("./ubloxd", 0.02),
("selfdrive.tombstoned", 0),
("./logcatd", 0),
]
r = True
dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
result = "------------------------------------------------\n"
for proc_name, normal_cpu_usage in procs:
try:
first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
cpu_time = cputime_total(last) - cputime_total(first)
cpu_usage = cpu_time / dt * 100.
if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
result += f"Warning {proc_name} using more CPU than normal\n"
r = False
elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
result += f"Warning {proc_name} using less CPU than normal\n"
r = False
result += f"{proc_name.ljust(35)} {cpu_usage:.2f}%\n"
except IndexError:
result += f"{proc_name.ljust(35)} NO METRICS FOUND\n"
r = False
result += "------------------------------------------------\n"
print(result)
return r
def test_cpu_usage():
cpu_ok = False
# start manager
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
manager_proc = subprocess.Popen(["python", manager_path])
try:
proc_sock = messaging.sub_sock('procLog', conflate=True, timeout=2000)
cs_sock = messaging.sub_sock('controlsState')
# wait until everything's started
msg = None
start_time = time.monotonic()
while msg is None and time.monotonic() - start_time < 240:
msg = messaging.recv_sock(cs_sock)
# take first sample
time.sleep(15)
first_proc = messaging.recv_sock(proc_sock, wait=True)
if first_proc is None:
raise Exception("\n\nTEST FAILED: progLog recv timed out\n\n")
# run for a minute and get last sample
time.sleep(60)
last_proc = messaging.recv_sock(proc_sock, wait=True)
cpu_ok = print_cpu_usage(first_proc, last_proc)
finally:
manager_proc.terminate()
ret = manager_proc.wait(20)
if ret is None:
manager_proc.kill()
return cpu_ok
if __name__ == "__main__":
set_params_enabled()
passed = False
try:
passed = test_cpu_usage()
except Exception as e:
print("\n\n\n", "TEST FAILED:", str(e), "\n\n\n")
finally:
sys.exit(int(not passed))

112
selfdrive/test/test_onroad.py 100755
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@ -0,0 +1,112 @@
#!/usr/bin/env python3
import os
import time
import subprocess
import unittest
from pathlib import Path
import cereal.messaging as messaging
from common.basedir import BASEDIR
from common.timeout import Timeout
from selfdrive.loggerd.config import ROOT
from selfdrive.test.helpers import set_params_enabled
from tools.lib.logreader import LogReader
PROCS = [
("selfdrive.controls.controlsd", 47.0),
("./loggerd", 45.0),
("selfdrive.locationd.locationd", 35.0),
("selfdrive.controls.plannerd", 20.0),
("selfdrive.locationd.paramsd", 12.0),
("./_modeld", 7.12),
("./camerad", 7.07),
("./_sensord", 6.17),
("./_ui", 5.82),
("selfdrive.controls.radard", 5.67),
("./boardd", 3.63),
("./_dmonitoringmodeld", 2.67),
("selfdrive.logmessaged", 1.7),
("selfdrive.thermald.thermald", 2.41),
("selfdrive.locationd.calibrationd", 2.0),
("selfdrive.monitoring.dmonitoringd", 1.90),
("./proclogd", 1.54),
("./_gpsd", 0.09),
("./clocksd", 0.02),
("./ubloxd", 0.02),
("selfdrive.tombstoned", 0),
("./logcatd", 0),
]
# ***** test helpers *****
def cputime_total(ct):
return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
def check_cpu_usage(first_proc, last_proc):
result = "------------------------------------------------\n"
result += "------------------ CPU Usage -------------------\n"
result += "------------------------------------------------\n"
r = True
dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
for proc_name, normal_cpu_usage in PROCS:
first, last = None, None
try:
first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
cpu_time = cputime_total(last) - cputime_total(first)
cpu_usage = cpu_time / dt * 100.
if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
result += f"Warning {proc_name} using more CPU than normal\n"
r = False
elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)):
result += f"Warning {proc_name} using less CPU than normal\n"
r = False
result += f"{proc_name.ljust(35)} {cpu_usage:.2f}%\n"
except IndexError:
result += f"{proc_name.ljust(35)} NO METRICS FOUND {first=} {last=}\n"
r = False
result += "------------------------------------------------\n"
print(result)
return r
class TestOnroad(unittest.TestCase):
@classmethod
def setUpClass(cls):
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
set_params_enabled()
initial_segments = set(Path(ROOT).iterdir())
# start manager and run openpilot for a minute
try:
manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
proc = subprocess.Popen(["python", manager_path])
sm = messaging.SubMaster(['carState'])
with Timeout(60, "controls didn't start"):
while not sm.updated['carState']:
sm.update(1000)
time.sleep(60)
finally:
proc.terminate()
if proc.wait(20) is None:
proc.kill()
new_segments = set(Path(ROOT).iterdir()) - initial_segments
segments = [p for p in new_segments if len(list(p.iterdir())) > 1]
cls.segment = [s for s in segments if str(s).endswith("--0")][0]
cls.lr = list(LogReader(os.path.join(str(cls.segment), "rlog.bz2")))
def test_cpu_usage(self):
proclogs = [m for m in self.lr if m.which() == 'procLog']
cpu_ok = check_cpu_usage(proclogs[5], proclogs[-3])
self.assertTrue(cpu_ok)
if __name__ == "__main__":
unittest.main()