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#!/usr/bin/env python
#
# Copyright 2016 The Chromium OS Authors. All rights reserved.
#
# 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.
#
"""
Runs the touchpad drag latency test using WALT Latency Timer
Usage example:
$ python walt.py 11
Input device : /dev/input/event11
Serial device : /dev/ttyACM1
Laser log file : /tmp/WALT_2016_06_23__1714_51_laser.log
evtest log file: /tmp/WALT_2016_06_23__1714_51_evtest.log
Clock zeroed at 1466716492 (rt 0.284ms)
........................................
Processing data, may take a minute or two...
Drag latency (min method) = 15.37 ms
Note, before running this script, check that evtest can grab the device.
On some systems it requires running as root.
"""
import argparse
import contextlib
import glob
import os
import random
import re
import socket
import subprocess
import sys
import tempfile
import threading
import time
import serial
import numpy
import evparser
import minimization
import screen_stats
# Time units
MS = 1e-3 # MS = 0.001 seconds
US = 1e-6 # US = 10^-6 seconds
# Globals
debug_mode = True
def log(msg):
if debug_mode:
print(msg)
class Walt(object):
""" A class for communicating with Walt device
Usage:
with Walt('/dev/ttyUSB0') as walt:
body....
"""
# Teensy commands, always singe char. Defined in WALT.ino
# github.com/google/walt/blob/master/arduino/walt/walt.ino
CMD_RESET = 'F'
CMD_PING = 'P'
CMD_SYNC_ZERO = 'Z'
CMD_SYNC_SEND = 'I'
CMD_SYNC_READOUT = 'R'
CMD_TIME_NOW = 'T'
CMD_AUTO_LASER_ON = 'L'
CMD_AUTO_LASER_OFF = 'l'
CMD_AUTO_SCREEN_ON = 'C'
CMD_AUTO_SCREEN_OFF = 'c'
CMD_GSHOCK = 'G'
CMD_VERSION = 'V'
CMD_SAMPLE_ALL = 'Q'
CMD_BRIGHTNESS_CURVE = 'U'
CMD_AUDIO = 'A'
def __init__(self, serial_dev, timeout=None, encoding='utf-8'):
self.encoding = encoding
self.serial_dev = serial_dev
self.ser = serial.Serial(serial_dev, baudrate=115200, timeout=timeout)
self.base_time = None
self.min_lag = None
self.max_lag = None
self.median_latency = None
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
try:
self.ser.close()
except:
pass
def close(self):
self.ser.close()
def readline(self):
return self.ser.readline().decode(self.encoding)
def sndrcv(self, data):
""" Send a 1-char command.
Return the reply and how long it took.
"""
t0 = time.time()
self.ser.write(data.encode(self.encoding))
reply = self.ser.readline()
reply = reply.decode(self.encoding)
t1 = time.time()
dt = (t1 - t0)
log('sndrcv(): round trip %.3fms, reply=%s' % (dt / MS, reply.strip()))
return dt, reply
def read_shock_time(self):
dt, s = self.sndrcv(Walt.CMD_GSHOCK)
t_us = int(s.strip())
return t_us
def run_comm_stats(self, N=100):
"""
Measure the USB serial round trip time.
Send CMD_TIME_NOW to the Teensy N times measuring the round trip each time.
Prints out stats (min, median, max).
"""
log('Running USB comm stats...')
self.ser.flushInput()
self.sndrcv(Walt.CMD_SYNC_ZERO)
tstart = time.time()
times = numpy.zeros((N, 1))
for i in range(N):
dt, _ = self.sndrcv(Walt.CMD_TIME_NOW)
times[i] = dt
t_total = time.time() - tstart
median = numpy.median(times)
stats = (times.min() / MS, median / MS, times.max() / MS, N)
self.median_latency = median
log('USB comm round trip stats:')
log('min=%.2fms, median=%.2fms, max=%.2fms N=%d' % stats)
if (median > 2):
print('ERROR: the median round trip is too high: %.2f ms' % (median / MS) )
sys.exit(2)
def zero_clock(self, max_delay=0.001, retries=10):
"""
Tell the TeensyUSB to zero its clock (CMD_SYNC_ZERO).
Returns the time when the command was sent.
Verify that the response arrived within max_delay seconds.
This is the simple zeroing used when the round trip is fast.
It does not employ the same method as Android clock sync.
"""
# Check that we get reasonable ping time with Teensy
# this also 'warms up' the comms, first msg is often slower
self.run_comm_stats(N=10)
self.ser.flushInput()
for i in range(retries):
t0 = time.time()
dt, _ = self.sndrcv(Walt.CMD_SYNC_ZERO)
if dt < max_delay:
print('Clock zeroed at %.0f (rt %.3f ms)' % (t0, dt / MS))
self.base_time = t0
self.max_lag = dt
self.min_lag = 0
return t0
print('Error, failed to zero the clock after %d retries')
return -1
def read_remote_times(self):
""" Helper func, see doc string in estimate_lage()
Read out the timestamps taken recorded by the Teensy.
"""
times = numpy.zeros(9)
for i in range(9):
dt, reply = self.sndrcv(Walt.CMD_SYNC_READOUT)
num, tstamp = reply.strip().split(':')
# TODO: verify that num is what we expect it to be
log('read_remote_times() CMD_SYNC_READOUT > w > = %s' % reply)
t = float(tstamp) * US # WALT sends timestamps in microseconds
times[i] = t
return times
def estimate_lag(self):
""" Estimate the difference between local and remote clocks
This is based on:
github.com/google/walt/blob/master/android/WALT/app/src/main/jni/README.md
self.base_time needs to be set using self.zero_clock() before running
this function.
The result is saved as self.min_lag and self.max_lag. Assume that the
remote clock lags behind the local by `lag` That is, at a given moment
local_time = remote_time + lag
where local_time = time.time() - self.base_time
Immediately after this function completes the lag is guaranteed to be
between min_lag and max_lag. But the lag change (drift) away with time.
"""
self.ser.flushInput()
# remote -> local
times_local_received = numpy.zeros(9)
self.ser.write(Walt.CMD_SYNC_SEND)
for i in range(9):
reply = self.ser.readline()
times_local_received[i] = time.time() - self.base_time
times_remote_sent = self.read_remote_times()
max_lag = (times_local_received - times_remote_sent).min()
# local -> remote
times_local_sent = numpy.zeros(9)
for i in range(9):
s = '%d' % (i + 1)
# Sleep between the messages to combat buffering
t_sleep = US * random.randint(70, 700)
time.sleep(t_sleep)
times_local_sent[i] = time.time() - self.base_time
self.ser.write(s)
times_remote_received = self.read_remote_times()
min_lag = (times_local_sent - times_remote_received).max()
self.min_lag = min_lag
self.max_lag = max_lag
def parse_trigger(self, trigger_line):
""" Parse a trigger line from WALT.
Trigger events look like this: "G L 12902345 1 1"
The parts:
* G - common for all trigger events
* L - means laser
* 12902345 is timestamp in us since zeroed
* 1st 1 or 0 is trigger value. 0 = changed to dark, 1 = changed to light,
* 2nd 1 is counter of how many times this trigger happened since last
readout, should always be 1 in our case
"""
parts = trigger_line.strip().split()
if len(parts) != 5:
raise Exception('Malformed trigger line: "%s"\n' % trigger_line)
t_us = int(parts[2])
val = int(parts[3])
return (t_us / 1e6, val)
def array2str(a):
a_strs = ['%0.2f' % x for x in a]
s = ', '.join(a_strs)
return '[' + s + ']'
def parse_args(argv):
temp_dir = tempfile.gettempdir()
serial = '/dev/ttyACM0'
# Try to autodetect the WALT serial port
ls_ttyACM = glob.glob('/dev/ttyACM*')
if len(ls_ttyACM) > 0:
serial = ls_ttyACM[0]
description = "Run a latency test using WALT Latency Timer"
parser = argparse.ArgumentParser(
description=description,
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('-i', '--input',
help='input device, e.g: 6 or /dev/input/event6')
parser.add_argument('-s', '--serial', default=serial,
help='WALT serial port')
parser.add_argument('-t', '--type',
help='Test type: drag|tap|screen|sanity|curve|bridge|'
'tapaudio|tapblink')
parser.add_argument('-l', '--logdir', default=temp_dir,
help='where to store logs')
parser.add_argument('-n', default=40, type=int,
help='Number of laser toggles to read')
parser.add_argument('-p', '--port', default=50007, type=int,
help='port to listen on for the TCP bridge')
parser.add_argument('-d', '--debug', action='store_true',
help='talk more')
args = parser.parse_args(argv)
if not args.type:
parser.print_usage()
sys.exit(0)
global debug_mode
debug_mode = args.debug
if args.input and args.input.isalnum():
args.input = '/dev/input/event' + args.input
return args
def run_drag_latency_test(args):
if not args.input:
print('Error: --input argument is required for drag latency test')
sys.exit(1)
# Create names for log files
prefix = time.strftime('WALT_%Y_%m_%d__%H%M_%S')
laser_file_name = os.path.join(args.logdir, prefix + '_laser.log')
evtest_file_name = os.path.join(args.logdir, prefix + '_evtest.log')
print('Starting drag latency test')
print('Input device : ' + args.input)
print('Serial device : ' + args.serial)
print('Laser log file : ' + laser_file_name)
print('evtest log file: ' + evtest_file_name)
with Walt(args.serial) as walt:
walt.sndrcv(Walt.CMD_RESET)
tstart = time.time()
t_zero = walt.zero_clock()
if t_zero < 0:
print('Error: Couldn\'t zero clock, exiting')
sys.exit(1)
# Fire up the evtest process
cmd = 'evtest %s > %s' % (args.input, evtest_file_name)
evtest = subprocess.Popen(cmd, shell=True)
# Turn on laser trigger auto-sending
walt.sndrcv(Walt.CMD_AUTO_LASER_ON)
trigger_count = 0
while trigger_count < args.n:
# The following line blocks until a message from WALT arrives
trigger_line = walt.readline()
trigger_count += 1
log('#%d/%d - ' % (trigger_count, args.n) +
trigger_line.strip())
if not debug_mode:
sys.stdout.write('.')
sys.stdout.flush()
t, val = walt.parse_trigger(trigger_line)
t += t_zero
with open(laser_file_name, 'at') as flaser:
flaser.write('%.3f %d\n' % (t, val))
walt.sndrcv(Walt.CMD_AUTO_LASER_OFF)
# Send SIGTERM to evtest process
evtest.terminate()
print("\nProcessing data, may take a minute or two...")
# lm.main(evtest_file_name, laser_file_name)
minimization.minimize(evtest_file_name, laser_file_name)
def run_screen_curve(args):
with Walt(args.serial, timeout=1) as walt:
walt.sndrcv(Walt.CMD_RESET)
t_zero = walt.zero_clock()
if t_zero < 0:
print('Error: Couldn\'t zero clock, exiting')
sys.exit(1)
# Fire up the walt_blinker process
cmd = 'blink_test 1'
blinker = subprocess.Popen(cmd, shell=True)
# Request screen brightness data
walt.sndrcv(Walt.CMD_BRIGHTNESS_CURVE)
s = 'dummy'
while s:
s = walt.readline()
print(s.strip())
def run_screen_latency_test(args):
# Create names for log files
prefix = time.strftime('WALT_%Y_%m_%d__%H%M_%S')
sensor_file_name = os.path.join(args.logdir, prefix + '_screen_sensor.log')
blinker_file_name = os.path.join(args.logdir, prefix + '_blinker.log')
print('Starting screen latency test')
print('Serial device : ' + args.serial)
print('Sensor log file : ' + sensor_file_name)
print('Blinker log file: ' + blinker_file_name)
with Walt(args.serial, timeout=1) as walt:
walt.sndrcv(Walt.CMD_RESET)
t_zero = walt.zero_clock()
if t_zero < 0:
print('Error: Couldn\'t zero clock, exiting')
sys.exit(1)
# Fire up the walt_blinker process
cmd = 'blink_test %d > %s' % (args.n, blinker_file_name, )
blinker = subprocess.Popen(cmd, shell=True)
# Turn on screen trigger auto-sending
walt.sndrcv(Walt.CMD_AUTO_SCREEN_ON)
trigger_count = 0
# Iterate while the blinker process is alive
# TODO: re-sync clocks every once in a while
while blinker.poll() is None:
# The following line blocks until a message from WALT arrives
trigger_line = walt.readline()
if not trigger_line:
# This usually happens when readline timeouts on last iteration
continue
trigger_count += 1
log('#%d/%d - ' % (trigger_count, args.n) +
trigger_line.strip())
if not debug_mode:
sys.stdout.write('.')
sys.stdout.flush()
t, val = walt.parse_trigger(trigger_line)
t += t_zero
with open(sensor_file_name, 'at') as flaser:
flaser.write('%.3f %d\n' % (t, val))
walt.sndrcv(Walt.CMD_AUTO_SCREEN_OFF)
screen_stats.screen_stats(blinker_file_name, sensor_file_name)
def run_tap_audio_test(args):
print('Starting tap-to-audio latency test')
with Walt(args.serial) as walt:
walt.sndrcv(Walt.CMD_RESET)
t_zero = walt.zero_clock()
if t_zero < 0:
print('Error: Couldn\'t zero clock, exiting')
sys.exit(1)
walt.sndrcv(Walt.CMD_GSHOCK)
deltas = []
while len(deltas) < args.n:
sys.stdout.write('\rWAIT ')
sys.stdout.flush()
time.sleep(1) # Wait for previous beep to stop playing
while walt.read_shock_time() != 0:
pass # skip shocks during sleep
sys.stdout.write('\rTAP NOW')
sys.stdout.flush()
walt.sndrcv(Walt.CMD_AUDIO)
trigger_line = walt.readline()
beep_time_seconds, val = walt.parse_trigger(trigger_line)
beep_time_ms = beep_time_seconds * 1e3
shock_time_ms = walt.read_shock_time() / 1e3
if shock_time_ms == 0:
print("\rNo shock detected, skipping this event")
continue
dt = beep_time_ms - shock_time_ms
deltas.append(dt)
print("\rdt=%0.1f ms" % dt)
print('Median tap-to-audio latency: %0.1f ms' % numpy.median(deltas))
def run_tap_blink_test(args):
print('Starting tap-to-blink latency test')
with Walt(args.serial) as walt:
walt.sndrcv(Walt.CMD_RESET)
t_zero = walt.zero_clock()
if t_zero < 0:
print('Error: Couldn\'t zero clock, exiting')
sys.exit(1)
walt.sndrcv(Walt.CMD_GSHOCK)
walt.sndrcv(Walt.CMD_AUTO_SCREEN_ON)
deltas = []
while len(deltas) < args.n:
trigger_line = walt.readline()
blink_time_seconds, val = walt.parse_trigger(trigger_line)
blink_time_ms = blink_time_seconds * 1e3
shock_time_ms = walt.read_shock_time() / 1e3
if shock_time_ms == 0:
print("No shock detected, skipping this event")
continue
dt = blink_time_ms - shock_time_ms
deltas.append(dt)
print("dt=%0.1f ms" % dt)
print('Median tap-to-blink latency: %0.1f ms' % numpy.median(deltas))
def run_tap_latency_test(args):
if not args.input:
print('Error: --input argument is required for tap latency test')
sys.exit(1)
print('Starting tap latency test')
with Walt(args.serial) as walt:
walt.sndrcv(Walt.CMD_RESET)
t_zero = walt.zero_clock()
if t_zero < 0:
print('Error: Couldn\'t zero clock, exiting')
sys.exit(1)
# Fire up the evtest process
cmd = 'evtest ' + args.input
evtest = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE, bufsize=1, universal_newlines=True)
walt.sndrcv(Walt.CMD_GSHOCK)
taps_detected = 0
taps = []
while taps_detected < args.n:
ev_line = evtest.stdout.readline()
tap_info = evparser.parse_tap_line(ev_line)
if not tap_info:
continue
# Just received a tap event from evtest
taps_detected += 1
t_tap_epoch, direction = tap_info
shock_time_us = walt.read_shock_time()
dt_tap_us = 1e6 * (t_tap_epoch - t_zero) - shock_time_us
print(ev_line.strip())
print("shock t %d, tap t %f, tap val %d. dt=%0.1f" % (shock_time_us, t_tap_epoch, direction, dt_tap_us))
if shock_time_us == 0:
print("No shock detected, skipping this event")
continue
taps.append((dt_tap_us, direction))
evtest.terminate()
# Process data
print("\nProcessing data...")
dt_down = numpy.array([t[0] for t in taps if t[1] == 1]) / 1e3
dt_up = numpy.array([t[0] for t in taps if t[1] == 0]) / 1e3
print('dt_down = ' + array2str(dt_down))
print('dt_up = ' + array2str(dt_up))
median_down_ms = numpy.median(dt_down)
median_up_ms = numpy.median(dt_up)
print('Median latency, down: %0.1f, up: %0.1f' % (median_down_ms, median_up_ms))
def run_walt_sanity_test(args):
print('Starting sanity test')
with Walt(args.serial) as walt:
walt.sndrcv(Walt.CMD_RESET)
not_digit = re.compile('\D+')
lows = numpy.zeros(3) + 1024
highs = numpy.zeros(3)
while True:
t, s = walt.sndrcv(Walt.CMD_SAMPLE_ALL)
nums = not_digit.sub(' ', s).strip().split()
if not nums:
continue
ints = numpy.array([int(x) for x in nums])
lows = numpy.array([lows, ints]).min(axis=0)
highs = numpy.array([highs, ints]).max(axis=0)
minmax = ' '.join(['%d-%d' % (lows[i], highs[i]) for i in range(3)])
print(s.strip() + '\tmin-max: ' + minmax)
time.sleep(0.1)
class TcpServer:
"""
"""
def __init__(self, walt, port=50007, host=''):
self.running = threading.Event()
self.paused = threading.Event()
self.net = None
self.walt = walt
self.port = port
self.host = host
self.last_zero = 0.
def ser2net(self, data):
print('w>: ' + repr(data))
return data
def net2ser(self, data):
print('w<: ' + repr(data))
# Discard any empty data
if not data or len(data) == 0:
print('o<: discarded empty data')
return
# Get a string version of the data for checking longer commands
s = data.decode(self.walt.encoding)
bridge_command = None
while len(s) > 0:
if not bridge_command:
bridge_command = re.search(r'bridge (sync|update)', s)
# If a "bridge" command does not exist, send everything to the WALT
if not bridge_command:
self.walt.ser.write(s.encode(self.walt.encoding))
break
# If a "bridge" command is preceded by WALT commands, send those
# first
if bridge_command.start() > 0:
before_command = s[:bridge_command.start()]
log('found bridge command after "%s"' % before_command)
s = s[bridge_command.start():]
self.walt.ser.write(before_command.encode(self.walt.encoding))
continue
# Otherwise, reply directly to the command
log('bridge command: %s, pausing ser2net thread...' %
bridge_command.group(0))
self.pause()
is_sync = bridge_command.group(1) == 'sync' or not self.walt.base_time
if is_sync:
self.walt.zero_clock()
self.walt.estimate_lag()
if is_sync:
# shift the base so that min_lag is 0
self.walt.base_time += self.walt.min_lag
self.walt.max_lag -= self.walt.min_lag
self.walt.min_lag = 0
min_lag = self.walt.min_lag * 1e6
max_lag = self.walt.max_lag * 1e6
# Send the time difference between now and when the clock was zeroed
dt0 = (time.time() - self.walt.base_time) * 1e6
reply = 'clock %d %d %d\n' % (dt0, min_lag, max_lag)
self.net.sendall(reply)
print('|custom-reply>: ' + repr(reply))
self.resume()
s = s[bridge_command.end():]
bridge_command = None
def connections_loop(self):
with contextlib.closing(socket.socket(
socket.AF_INET, socket.SOCK_STREAM)) as sock:
self.sock = sock
# SO_REUSEADDR is supposed to prevent the "Address already in use" error
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
sock.bind((self.host, self.port))
sock.listen(10)
while True:
print('Listening on port %d' % self.port)
net, addr = sock.accept()
self.net = net
try:
print('Connected by: ' + str(addr))
self.net2ser_loop()
except socket.error as e:
# IO errors with the socket, not sure what they are
print('Error: %s' % e)
break
finally:
net.close()
self.net = None
def net2ser_loop(self):
while True:
data = self.net.recv(1024)
if not data:
break # got disconnected
self.net2ser(data)
def ser2net_loop(self):
while True:
self.running.wait()
data = self.walt.readline()
if self.net and self.running.is_set():
data = self.ser2net(data)
data = data.encode(self.walt.encoding)
self.net.sendall(data)
if not self.running.is_set():
self.paused.set()
def serve(self):
t = self.ser2net_thread = threading.Thread(
target=self.ser2net_loop,
name='ser2net_thread'
)
t.daemon = True
t.start()
self.paused.clear()
self.running.set()
self.connections_loop()
def pause(self):
""" Pause serial -> net forwarding
The ser2net_thread stays running, but won't read any incoming data
from the serial port.
"""
self.running.clear()
# Send a ping to break out of the blocking read on serial port and get
# blocked on running.wait() instead. The ping response is discarded.
self.walt.ser.write(Walt.CMD_PING)
# Wait until the ping response comes in and we are sure we are no longer
# blocked on ser.read()
self.paused.wait()
print("Paused ser2net thread")
def resume(self):
self.running.set()
self.paused.clear()
print("Resuming ser2net thread")
def close(self):
try:
self.sock.close()
except:
pass
try:
self.walt.close()
except:
pass
def __exit__(self, exc_type, exc_value, traceback):
self.close()
def __enter__(self):
return self
def run_tcp_bridge(args):
print('Starting TCP bridge')
print('You may need to run the following to allow traffic from the android container:')
print('iptables -A INPUT -p tcp --dport %d -j ACCEPT' % args.port)
try:
with Walt(args.serial) as walt:
with TcpServer(walt, port=args.port) as srv:
walt.sndrcv(Walt.CMD_RESET)
srv.serve()
except KeyboardInterrupt:
print(' KeyboardInterrupt, exiting...')
def main(argv=sys.argv[1:]):
args = parse_args(argv)
if args.type == 'drag':
run_drag_latency_test(args)
if args.type == 'tap':
run_tap_latency_test(args)
elif args.type == 'screen':
run_screen_latency_test(args)
elif args.type == 'sanity':
run_walt_sanity_test(args)
elif args.type == 'curve':
run_screen_curve(args)
elif args.type == 'bridge':
run_tcp_bridge(args)
elif args.type == 'tapaudio':
run_tap_audio_test(args)
elif args.type == 'tapblink':
run_tap_blink_test(args)
else:
print('Unknown test type: "%s"' % args.type)
if __name__ == '__main__':
main()
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