less replay

selfdrive/pandad/tests/test_pandad_loopback.py

@@ -83,7 +83,7 @@ def test_loopback(self):
     sm = messaging.SubMaster(['pandaStates'])
     time.sleep(1)
 
-    n = 200
+    n = 20
     for i in range(n):
       print(f"pandad loopback {i}/{n}")
 

selfdrive/test/process_replay/model_replay.py

@@ -14,7 +14,7 @@
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
-MAX_FRAMES = 100 if PC else 600
+MAX_FRAMES = 100 if PC else 60
 
 NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))

system/camerad/test/test_camerad.py

@@ -9,7 +9,7 @@
 from cereal.services import SERVICE_LIST
 from openpilot.system.manager.process_config import managed_processes
 
-TEST_TIMESPAN = 30
+TEST_TIMESPAN = 10
 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
                        log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
 FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
@@ -21,39 +21,40 @@
 @flaky(max_runs=3)
 @pytest.mark.tici
 class TestCamerad:
-  def setup_method(self):
+  @classmethod
+  def setup_method(cls):
     # run camerad and record logs
     managed_processes['camerad'].start()
     time.sleep(3)
     socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
 
-    self.logs = defaultdict(list)
+    cls.logs = defaultdict(list)
     start_time = time.monotonic()
     while time.monotonic()- start_time < TEST_TIMESPAN:
       for cam, s in socks.items():
-        self.logs[cam] += messaging.drain_sock(s)
+        cls.logs[cam] += messaging.drain_sock(s)
       time.sleep(0.2)
     managed_processes['camerad'].stop()
 
-    self.log_by_frame_id = defaultdict(list)
-    self.sensor_type = None
-    for cam, msgs in self.logs.items():
-      if self.sensor_type is None:
-        self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    cls.log_by_frame_id = defaultdict(list)
+    cls.sensor_type = None
+    for cam, msgs in cls.logs.items():
+      if cls.sensor_type is None:
+        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
       expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
       assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
       dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
 
       for m in msgs:
-        self.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
 
     # strip beginning and end
     for _ in range(3):
-      mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys())
-      del self.log_by_frame_id[mn]
-      del self.log_by_frame_id[mx]
+      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
+      del cls.log_by_frame_id[mn]
+      del cls.log_by_frame_id[mx]
 
   def test_frame_skips(self):
     skips = {}