From 0ff25034c411c504c21a40bfd49ab5e9bbbe4c87 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 1 Apr 2023 04:50:03 +0800
Subject: [PATCH] CANParser: add performance test (#801)

* add benchmarks

* cleanup

* unittest

* thresholds

* add test for update_strings

* change thresholds

* increase to 50000

* trigger ci

* update thresholds

* trigger ci

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 can/tests/test_dbc_exceptions.py |  0
 can/tests/test_define.py         |  0
 can/tests/test_parser.py         | 73 ++++++++++++++++++++++++++++++++
 3 files changed, 73 insertions(+)
 mode change 100644 => 100755 can/tests/test_dbc_exceptions.py
 mode change 100644 => 100755 can/tests/test_define.py
 create mode 100755 can/tests/test_parser.py

diff --git a/can/tests/test_dbc_exceptions.py b/can/tests/test_dbc_exceptions.py
old mode 100644
new mode 100755
diff --git a/can/tests/test_define.py b/can/tests/test_define.py
old mode 100644
new mode 100755
diff --git a/can/tests/test_parser.py b/can/tests/test_parser.py
new file mode 100755
index 0000000000..fc60b8d1e7
--- /dev/null
+++ b/can/tests/test_parser.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+import time
+import unittest
+
+from opendbc.can.parser import CANParser
+from opendbc.can.packer import CANPacker
+from opendbc.can.tests.test_packer_parser import can_list_to_can_capnp
+
+
+
+class TestParser(unittest.TestCase):
+  def _benchmark(self, signals, checks, thresholds, n):
+    parser = CANParser('toyota_new_mc_pt_generated', signals, checks, 0, False)
+    packer = CANPacker('toyota_new_mc_pt_generated')
+    can_msgs = []
+    for i in range(50000):
+      values = {"ACC_CONTROL": {"ACC_TYPE": 1, "ALLOW_LONG_PRESS": 3}}
+      msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
+      bts = can_list_to_can_capnp(msgs, logMonoTime=int(0.01 * i * 1e9))
+      can_msgs.append(bts)
+
+    if n > 1:
+      strings = []
+      for i in range(0, len(can_msgs), n):
+        strings.append(can_msgs[i:i + n])
+      t1 = time.process_time_ns()
+      for m in strings:
+        parser.update_strings(m)
+      t2 = time.process_time_ns()
+    else:
+      t1 = time.process_time_ns()
+      for m in can_msgs:
+        parser.update_string(m)
+      t2 = time.process_time_ns()
+
+    et = t2 - t1
+    avg_nanos = et / len(can_msgs)
+    method = 'update_strings'  if n > 1 else 'update_string'
+    print('%s: [%s] %.1fms to parse %s, avg: %dns' % (self._testMethodName, method, et/1e6, len(can_msgs), avg_nanos))
+
+    minn, maxx = thresholds
+    self.assertLess(avg_nanos, maxx)
+    self.assertGreater(avg_nanos, minn, "Performance seems to have improved, update test thresholds.")
+
+  def test_performance_one_signal(self):
+    signals = [
+      ("ACCEL_CMD", "ACC_CONTROL"),
+    ]
+    self._benchmark(signals, [('ACC_CONTROL', 10)], (7800, 15000), 1)
+    self._benchmark(signals, [('ACC_CONTROL', 10)], (2500, 5000), 10)
+
+  def test_performance_all_signals(self):
+    signals = [
+      ("ACCEL_CMD", "ACC_CONTROL"),
+      ("ALLOW_LONG_PRESS", "ACC_CONTROL"),
+      ("ACC_MALFUNCTION", "ACC_CONTROL"),
+      ("RADAR_DIRTY", "ACC_CONTROL"),
+      ("DISTANCE", "ACC_CONTROL"),
+      ("MINI_CAR", "ACC_CONTROL"),
+      ("CANCEL_REQ", "ACC_CONTROL"),
+      ("ACC_CUT_IN", "ACC_CONTROL"),
+      ("PERMIT_BRAKING", "ACC_CONTROL"),
+      ("RELEASE_STANDSTILL", "ACC_CONTROL"),
+      ("ITS_CONNECT_LEAD", "ACC_CONTROL"),
+      ("ACCEL_CMD_ALT", "ACC_CONTROL"),
+      ("CHECKSUM", "ACC_CONTROL"),
+    ]
+    self._benchmark(signals, [('ACC_CONTROL', 10)], (16000, 25000), 1)
+    self._benchmark(signals, [('ACC_CONTROL', 10)], (10000, 15000), 10)
+
+
+if __name__ == "__main__":
+  unittest.main()