CANParser: add performance test (commaai#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_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()