camerad jenkins box test (#20413)
* separate test * send * update test * snapshot is rgb * this does not belong here * clean up * tici * no if * no black frames * flaky leds * rename and cleanup * should be stable and avoid lucky pass * print * logical and * run in jenkins * source profile on tici Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/20500/head
ZwX1616
GitHub
parent
6e57fb3767
commit
97133a8fac
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@ -11,6 +11,9 @@ export GIT_BRANCH=${env.GIT_BRANCH}
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export GIT_COMMIT=${env.GIT_COMMIT}
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source ~/.bash_profile
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if [ -f /TICI ]; then
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source /etc/profile
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fi
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ln -snf ${env.TEST_DIR} /data/pythonpath
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@ -151,7 +154,6 @@ pipeline {
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["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
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["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
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["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
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["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
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["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
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//["test updater", "python installer/updater/test_updater.py"],
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])
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@ -167,12 +169,31 @@ pipeline {
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["build", "SCONS_CACHE=1 scons -j16"],
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["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
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["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
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["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
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//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
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])
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}
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}
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stage('camerad') {
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steps {
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phone_steps("eon-party", [
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["build", "SCONS_CACHE=1 scons -j16"],
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["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
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["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
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])
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}
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}
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stage('Tici camerad') {
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steps {
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phone_steps("tici-party", [
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["build", "SCONS_CACHE=1 scons -j16"],
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["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
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["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
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])
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}
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}
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}
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}
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}
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@ -2,11 +2,9 @@
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import time
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import unittest
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import numpy as np
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import cereal.messaging as messaging
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from selfdrive.test.helpers import with_processes
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from selfdrive.camerad.snapshot.snapshot import get_snapshots
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# only tests for EON and TICI
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from selfdrive.hardware import EON, TICI
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@ -31,70 +29,6 @@ class TestCamerad(unittest.TestCase):
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if not (EON or TICI):
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raise unittest.SkipTest
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# assert "SEND_REAR" in os.environ
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# assert "SEND_FRONT" in os.environ
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def _numpy_bgr2gray(self, im):
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ret = np.clip(im[:,:,0] * 0.114 + im[:,:,1] * 0.587 + im[:,:,2] * 0.299, 0, 255).astype(np.uint8)
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return ret
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def _numpy_lap(self, im):
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ret = np.zeros(im.shape)
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ret += -4 * im
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ret += np.concatenate([np.zeros((im.shape[0],1)),im[:,:-1]], axis=1)
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ret += np.concatenate([im[:,1:],np.zeros((im.shape[0],1))], axis=1)
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ret += np.concatenate([np.zeros((1,im.shape[1])),im[:-1,:]], axis=0)
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ret += np.concatenate([im[1:,:],np.zeros((1,im.shape[1]))], axis=0)
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ret = np.clip(ret, 0, 255).astype(np.uint8)
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return ret
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def _is_really_sharp(self, i, threshold=800, roi_max=np.array([8,6]), roi_xxyy=np.array([1,6,2,3])):
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i = self._numpy_bgr2gray(i)
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x_pitch = i.shape[1] // roi_max[0]
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y_pitch = i.shape[0] // roi_max[1]
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lap = self._numpy_lap(i)
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lap_map = np.zeros((roi_max[1], roi_max[0]))
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for r in range(lap_map.shape[0]):
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for c in range(lap_map.shape[1]):
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selected_lap = lap[r*y_pitch:(r+1)*y_pitch, c*x_pitch:(c+1)*x_pitch]
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lap_map[r][c] = 5*selected_lap.var() + selected_lap.max()
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print(lap_map[roi_xxyy[2]:roi_xxyy[3]+1,roi_xxyy[0]:roi_xxyy[1]+1])
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if (lap_map[roi_xxyy[2]:roi_xxyy[3]+1,roi_xxyy[0]:roi_xxyy[1]+1] > threshold).sum() > \
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(roi_xxyy[1]+1-roi_xxyy[0]) * (roi_xxyy[3]+1-roi_xxyy[2]) * 0.9:
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return True
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else:
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return False
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def _is_exposure_okay(self, i, med_ex=np.array([0.2,0.4]), mean_ex=np.array([0.2,0.6])):
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i = self._numpy_bgr2gray(i)
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i_median = np.median(i) / 256
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i_mean = np.mean(i) / 256
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print([i_median, i_mean])
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return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
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@unittest.skip # skip for now
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@with_processes(['camerad'])
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def test_camera_operation(self):
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print("checking image outputs")
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if EON:
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# run checks similar to prov
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time.sleep(15) # wait for startup and AF
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pic, fpic = get_snapshots()
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self.assertTrue(self._is_really_sharp(pic))
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self.assertTrue(self._is_exposure_okay(pic))
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self.assertTrue(self._is_exposure_okay(fpic))
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time.sleep(30)
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# check again for consistency
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pic, fpic = get_snapshots()
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self.assertTrue(self._is_really_sharp(pic))
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self.assertTrue(self._is_exposure_okay(pic))
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self.assertTrue(self._is_exposure_okay(fpic))
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elif TICI:
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raise unittest.SkipTest # TBD
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else:
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raise unittest.SkipTest
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@with_processes(['camerad'])
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def test_frame_packets(self):
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print("checking frame pkts continuity")
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@ -0,0 +1,68 @@
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#!/usr/bin/env python3
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import time
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import unittest
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import os
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import numpy as np
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from selfdrive.test.helpers import with_processes
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from selfdrive.camerad.snapshot.snapshot import get_snapshots
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from selfdrive.hardware import EON, TICI
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TEST_TIME = 45
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REPEAT = 5
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os.environ["SEND_ROAD"] = "1"
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os.environ["SEND_DRIVER"] = "1"
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if TICI:
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os.environ["SEND_WIDE_ROAD"] = "1"
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class TestCamerad(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if not (EON or TICI):
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raise unittest.SkipTest
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def _numpy_rgb2gray(self, im):
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ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
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return ret
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def _is_exposure_okay(self, i, med_mean=np.array([[0.2,0.4],[0.2,0.6]])):
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h, w = i.shape[:2]
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i = i[h//10:9*h//10,w//10:9*w//10]
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med_ex, mean_ex = med_mean
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i = self._numpy_rgb2gray(i)
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i_median = np.median(i) / 255.
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i_mean = np.mean(i) / 255.
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print([i_median, i_mean])
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return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
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@with_processes(['camerad'])
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def test_camera_operation(self):
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print("checking image outputs")
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start = time.time()
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passed = 0
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while(time.time() - start < TEST_TIME and passed < REPEAT):
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rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
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res = self._is_exposure_okay(rpic)
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res = res and self._is_exposure_okay(dpic)
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if TICI:
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wpic, _ = get_snapshots(frame="wideRoadCameraState")
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res = res and self._is_exposure_okay(wpic)
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if passed > 0 and not res:
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passed = -passed # fails test if any failure after first sus
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break
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passed += int(res)
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time.sleep(2)
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print(passed)
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self.assertTrue(passed >= REPEAT)
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if __name__ == "__main__":
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unittest.main()
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