# Copyright 2016 The Android Open Source Project
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import os.path
import re
import subprocess
import sys
import tempfile
import time
import its.device
import numpy
SCENE_NAME = 'sensor_fusion'
SKIP_RET_CODE = 101
TEST_NAME = 'test_sensor_fusion'
TEST_DIR = os.path.join(os.getcwd(), 'tests', SCENE_NAME)
W, H = 640, 480
# For finding best correlation shifts from test output logs.
SHIFT_RE = re.compile('^Best correlation of [0-9.]+ at shift of [-0-9.]+ms$')
# For finding lines that indicate socket issues in failed test runs.
SOCKET_FAIL_RE = re.compile(
r'.*((socket\.(error|timeout))|(Problem with socket)).*')
FPS = 30
TEST_LENGTH = 7 # seconds
def main():
"""Run test_sensor_fusion NUM_RUNS times.
Save intermediate files and produce a summary/report of the results.
Script should be run from the top-level CameraITS directory.
Command line arguments:
camera: Camera(s) to be tested. Use comma to separate multiple
camera Ids. Ex: 'camera=0,1' or 'camera=1'
device: Device id for adb
fps: FPS to capture with during the test
img_size: Comma-separated dimensions of captured images (defaults to
640x480). Ex: 'img_size=<width>,<height>'
num_runs: Number of times to repeat the test
rotator: String for rotator id in for vid:pid:ch
test_length: How long the test should run for (in seconds)
tmp_dir: Location of temp directory for output files
"""
camera_id = '0'
fps = str(FPS)
img_size = '%s,%s' % (W, H)
num_runs = 1
rotator_ids = 'default'
test_length = str(TEST_LENGTH)
tmp_dir = None
for s in sys.argv[1:]:
if s[:7] == 'camera=' and len(s) > 7:
camera_id = s[7:]
if s[:4] == 'fps=' and len(s) > 4:
fps = s[4:]
elif s[:9] == 'img_size=' and len(s) > 9:
img_size = s[9:]
elif s[:9] == 'num_runs=' and len(s) > 9:
num_runs = int(s[9:])
elif s[:8] == 'rotator=' and len(s) > 8:
rotator_ids = s[8:]
elif s[:12] == 'test_length=' and len(s) > 12:
test_length = s[12:]
elif s[:8] == 'tmp_dir=' and len(s) > 8:
tmp_dir = s[8:]
# Make output directories to hold the generated files.
tmpdir = tempfile.mkdtemp(dir=tmp_dir)
print 'Saving output files to:', tmpdir, '\n'
device_id = its.device.get_device_id()
device_id_arg = 'device=' + device_id
print 'Testing device ' + device_id
# ensure camera_id is valid
avail_camera_ids = find_avail_camera_ids()
if camera_id not in avail_camera_ids:
print 'Need to specify valid camera_id in ', avail_camera_ids
sys.exit()
camera_id_arg = 'camera=' + camera_id
if rotator_ids:
rotator_id_arg = 'rotator=' + rotator_ids
print 'Preparing to run sensor_fusion on camera', camera_id
img_size_arg = 'img_size=' + img_size
print 'Image dimensions are ' + 'x'.join(img_size.split(','))
fps_arg = 'fps=' + fps
test_length_arg = 'test_length=' + test_length
print 'Capturing at %sfps' % fps
os.mkdir(os.path.join(tmpdir, camera_id))
# Run test "num_runs" times, capturing stdout and stderr.
num_pass = 0
num_fail = 0
num_skip = 0
num_socket_fails = 0
num_non_socket_fails = 0
shift_list = []
for i in range(num_runs):
os.mkdir(os.path.join(tmpdir, camera_id, SCENE_NAME+'_'+str(i)))
cmd = 'python tools/rotation_rig.py rotator=%s' % rotator_ids
subprocess.Popen(cmd.split())
cmd = ['python', os.path.join(TEST_DIR, TEST_NAME+'.py'),
device_id_arg, camera_id_arg, rotator_id_arg, img_size_arg,
fps_arg, test_length_arg]
outdir = os.path.join(tmpdir, camera_id, SCENE_NAME+'_'+str(i))
outpath = os.path.join(outdir, TEST_NAME+'_stdout.txt')
errpath = os.path.join(outdir, TEST_NAME+'_stderr.txt')
t0 = time.time()
with open(outpath, 'w') as fout, open(errpath, 'w') as ferr:
retcode = subprocess.call(
cmd, stderr=ferr, stdout=fout, cwd=outdir)
t1 = time.time()
if retcode == 0:
retstr = 'PASS '
time_shift = find_time_shift(outpath)
shift_list.append(time_shift)
num_pass += 1
elif retcode == SKIP_RET_CODE:
retstr = 'SKIP '
num_skip += 1
else:
retstr = 'FAIL '
time_shift = find_time_shift(outpath)
if time_shift is None:
if is_socket_fail(errpath):
num_socket_fails += 1
else:
num_non_socket_fails += 1
else:
shift_list.append(time_shift)
num_fail += 1
msg = '%s %s/%s [%.1fs]' % (retstr, SCENE_NAME, TEST_NAME, t1-t0)
print msg
if num_pass == 1:
print 'Best shift is %sms' % shift_list[0]
elif num_pass > 1:
shift_arr = numpy.array(shift_list)
mean, std = numpy.mean(shift_arr), numpy.std(shift_arr)
print 'Best shift mean is %sms with std. dev. of %sms' % (mean, std)
pass_percentage = 100*float(num_pass+num_skip)/num_runs
print '%d / %d tests passed (%.1f%%)' % (num_pass+num_skip,
num_runs,
pass_percentage)
if num_socket_fails != 0:
print '%s failure(s) due to socket issues' % num_socket_fails
if num_non_socket_fails != 0:
print '%s non-socket failure(s)' % num_non_socket_fails
def is_socket_fail(err_file_path):
"""Search through a test run's stderr log for any mention of socket issues.
Args:
err_file_path: File path for stderr logs to search through
Returns:
True if the test run failed and it was due to socket issues. Otherwise,
False.
"""
return find_matching_line(err_file_path, SOCKET_FAIL_RE) is not None
def find_time_shift(out_file_path):
"""Search through a test run's stdout log for the best time shift.
Args:
out_file_path: File path for stdout logs to search through
Returns:
The best time shift, if one is found. Otherwise, returns None.
"""
line = find_matching_line(out_file_path, SHIFT_RE)
if line is None:
return None
else:
words = line.split(' ')
# Get last word and strip off 'ms\n' before converting to a float.
return float(words[-1][:-3])
def find_matching_line(file_path, regex):
"""Search each line in the file at 'file_path' for a line matching 'regex'.
Args:
file_path: File path for file being searched
regex: Regex used to match against lines
Returns:
The first matching line. If none exists, returns None.
"""
with open(file_path) as f:
for line in f:
if regex.match(line):
return line
return None
def find_avail_camera_ids():
"""Find the available camera IDs.
Returns:
list of available cameras
"""
with its.device.ItsSession() as cam:
avail_camera_ids = cam.get_camera_ids()
return avail_camera_ids
if __name__ == '__main__':
main()