You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
150 lines
4.5 KiB
150 lines
4.5 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import sys
|
|
import unittest
|
|
|
|
from parameterized import parameterized
|
|
from typing import Optional, Union, List
|
|
|
|
|
|
from openpilot.selfdrive.test.openpilotci import get_url, upload_file
|
|
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_process_diff
|
|
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process
|
|
from openpilot.system.version import get_commit
|
|
from openpilot.tools.lib.filereader import FileReader
|
|
from openpilot.tools.lib.helpers import save_log
|
|
from openpilot.tools.lib.logreader import LogReader, LogIterable
|
|
|
|
|
|
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
|
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
|
EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
|
|
|
|
|
|
def get_log_data(segment):
|
|
r, n = segment.rsplit("--", 1)
|
|
with FileReader(get_url(r, n)) as f:
|
|
return f.read()
|
|
|
|
|
|
ALL_PROCS = sorted({cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS})
|
|
PROC_TO_CFG = {cfg.proc_name: cfg for cfg in CONFIGS}
|
|
|
|
cpu_count = os.cpu_count() or 1
|
|
|
|
|
|
class TestProcessReplayBase(unittest.TestCase):
|
|
"""
|
|
Base class that replays all processes within test_proceses from a segment,
|
|
and puts the log messages in self.log_msgs for analysis by other tests.
|
|
"""
|
|
segment: Optional[Union[str, LogIterable]] = None
|
|
tested_procs: List[str] = ALL_PROCS
|
|
|
|
@classmethod
|
|
def setUpClass(cls, create_logs=True):
|
|
if "Base" in cls.__name__:
|
|
raise unittest.SkipTest("skipping base class")
|
|
|
|
if isinstance(cls.segment, str):
|
|
cls.log_reader = LogReader.from_bytes(get_log_data(cls.segment))
|
|
else:
|
|
cls.log_reader = cls.segment
|
|
|
|
if create_logs:
|
|
cls._create_log_msgs()
|
|
|
|
@classmethod
|
|
def _run_replay(cls, cfg):
|
|
try:
|
|
return replay_process(cfg, cls.log_reader, disable_progress=True)
|
|
except Exception as e:
|
|
raise Exception(f"failed on segment: {cls.segment} \n{e}") from e
|
|
|
|
@classmethod
|
|
def _create_log_msgs(cls):
|
|
cls.log_msgs = {}
|
|
cls.proc_cfg = {}
|
|
|
|
for proc in cls.tested_procs:
|
|
cfg = PROC_TO_CFG[proc]
|
|
|
|
log_msgs = cls._run_replay(cfg)
|
|
|
|
cls.log_msgs[proc] = log_msgs
|
|
cls.proc_cfg[proc] = cfg
|
|
|
|
|
|
class TestProcessReplayDiffBase(TestProcessReplayBase):
|
|
"""
|
|
Base class for checking for diff between process outputs.
|
|
"""
|
|
update_refs = False
|
|
upload_only = False
|
|
long_diff = False
|
|
ignore_msgs: List[str] = []
|
|
ignore_fields: List[str] = []
|
|
|
|
def setUp(self):
|
|
super().setUp()
|
|
if self.upload_only:
|
|
raise unittest.SkipTest("skipping test, uploading only")
|
|
|
|
@classmethod
|
|
def setUpClass(cls):
|
|
super().setUpClass(not cls.upload_only)
|
|
|
|
if cls.long_diff:
|
|
cls.maxDiff = None
|
|
|
|
os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
|
|
|
|
cls.cur_commit = get_commit()
|
|
cls.assertNotEqual(cls.cur_commit, None, "Couldn't get current commit")
|
|
|
|
cls.upload = cls.update_refs or cls.upload_only
|
|
|
|
try:
|
|
with open(REF_COMMIT_FN) as f:
|
|
cls.ref_commit = f.read().strip()
|
|
except FileNotFoundError:
|
|
print("Couldn't find reference commit")
|
|
sys.exit(1)
|
|
|
|
cls._create_ref_log_msgs()
|
|
|
|
@classmethod
|
|
def _create_ref_log_msgs(cls):
|
|
cls.ref_log_msgs = {}
|
|
|
|
for proc in cls.tested_procs:
|
|
cur_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.cur_commit}.bz2")
|
|
if cls.update_refs: # reference logs will not exist if routes were just regenerated
|
|
ref_log_path = get_url(*cls.segment.rsplit("--", 1))
|
|
else:
|
|
ref_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.ref_commit}.bz2")
|
|
ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
|
|
|
|
if not cls.upload_only:
|
|
save_log(cur_log_fn, cls.log_msgs[proc])
|
|
cls.ref_log_msgs[proc] = list(LogReader(ref_log_path))
|
|
|
|
if cls.upload:
|
|
assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
|
|
upload_file(cur_log_fn, os.path.basename(cur_log_fn))
|
|
os.remove(cur_log_fn)
|
|
|
|
@parameterized.expand(ALL_PROCS)
|
|
def test_process_diff(self, proc):
|
|
if proc not in self.tested_procs:
|
|
raise unittest.SkipTest(f"{proc} was not requested to be tested")
|
|
|
|
cfg = self.proc_cfg[proc]
|
|
log_msgs = self.log_msgs[proc]
|
|
ref_log_msgs = self.ref_log_msgs[proc]
|
|
|
|
diff = compare_logs(ref_log_msgs, log_msgs, self.ignore_fields + cfg.ignore, self.ignore_msgs)
|
|
|
|
diff_short, diff_long = format_process_diff(diff)
|
|
|
|
self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short)
|
|
|