52 lines
1.5 KiB
Python
52 lines
1.5 KiB
Python
import time
|
|
import numpy as np
|
|
import pytest
|
|
|
|
from openpilot.selfdrive.test.helpers import with_processes
|
|
from openpilot.system.camerad.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([[0.18,0.3],[0.18,0.3]])
|
|
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.monotonic()
|
|
while time.monotonic() - 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
|