loggerd: make test_loggerd.py run on PC (#23574)

* run on PC

* set frameId

* remove todo

* rawlogger: remove suffix mkv

* remove unused import PC

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 22d43211d9

selfdrive/hardware/hw.h

@@ -20,17 +20,16 @@ public:
 #endif
 
 namespace Path {
-inline static std::string HOME = util::getenv("HOME");
 inline std::string log_root() {
   if (const char *env = getenv("LOG_ROOT")) {
     return env;
   }
-  return Hardware::PC() ? HOME + "/.comma/media/0/realdata" : "/data/media/0/realdata";
+  return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata";
 }
 inline std::string params() {
-  return Hardware::PC() ? HOME + "/.comma/params" : "/data/params";
+  return Hardware::PC() ? util::getenv("HOME") + "/.comma/params" : "/data/params";
 }
 inline std::string rsa_file() {
-  return Hardware::PC() ? HOME + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
+  return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
 }
 }  // namespace Path

selfdrive/loggerd/loggerd.h

@@ -80,7 +80,7 @@ const LogCameraInfo cameras_logged[] = {
     .downscale = false,
     .has_qcamera = false,
     .trigger_rotate = Hardware::TICI(),
-    .enable = !Hardware::PC(),
+    .enable = true,
     .record = Params().getBool("RecordFront"),
   },
   {

selfdrive/loggerd/raw_logger.cc

@@ -64,7 +64,7 @@ RawLogger::~RawLogger() {
 }
 
 void RawLogger::encoder_open(const char* path) {
-  vid_path = util::string_format("%s/%s.mkv", path, filename);
+  vid_path = util::string_format("%s/%s", path, filename);
 
   // create camera lock file
   lock_path = util::string_format("%s/%s.lock", path, filename);

selfdrive/loggerd/tests/test_loggerd.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import numpy as np
 import os
 import random
 import string
@@ -14,12 +15,14 @@ from cereal.services import service_list
 from common.basedir import BASEDIR
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.hardware import PC, TICI
+from selfdrive.hardware import TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.test.helpers import with_processes
 from selfdrive.version import get_version
 from tools.lib.logreader import LogReader
+from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType  # pylint: disable=no-name-in-module, import-error
+from common.transformations.camera import eon_f_frame_size, tici_f_frame_size, \
+                                          eon_d_frame_size, tici_d_frame_size, tici_e_frame_size
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -28,12 +31,6 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list
 
 
 class TestLoggerd(unittest.TestCase):
-  # TODO: all tests should work on PC
-  @classmethod
-  def setUpClass(cls):
-    if PC:
-      raise unittest.SkipTest
-
   def _get_latest_log_dir(self):
     log_dirs = sorted(Path(ROOT).iterdir(), key=lambda f: f.stat().st_mtime)
     return log_dirs[-1]
@@ -107,25 +104,41 @@ class TestLoggerd(unittest.TestCase):
     for _, k, v in fake_params:
       self.assertEqual(getattr(initData, k), v)
 
-  # TODO: this shouldn't need camerad
-  @with_processes(['camerad'])
   def test_rotation(self):
     os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")
+
     expected_files = {"rlog.bz2", "qlog.bz2", "qcamera.ts", "fcamera.hevc", "dcamera.hevc"}
+    streams = [(VisionStreamType.VISION_STREAM_ROAD, tici_f_frame_size if TICI else eon_f_frame_size, "roadCameraState"),
+              (VisionStreamType.VISION_STREAM_DRIVER, tici_d_frame_size if TICI else eon_d_frame_size, "driverCameraState")]
     if TICI:
       expected_files.add("ecamera.hevc")
+      streams.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, tici_e_frame_size, "wideRoadCameraState"))
 
-    # give camerad time to start
-    time.sleep(3)
+    pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
+    vipc_server = VisionIpcServer("camerad")
+    for stream_type, frame_size, _ in streams:
+      vipc_server.create_buffers(stream_type, 40, False, *(frame_size))
+    vipc_server.start_listener()
 
     for _ in range(5):
       num_segs = random.randint(2, 5)
       length = random.randint(1, 3)
       os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
-
       managed_processes["loggerd"].start()
-      time.sleep(num_segs*length + 1)
+
+      fps = 20.0
+      for n in range(1, int(num_segs*length*fps)+1):
+        for stream_type, frame_size, state in streams:
+          dat = np.empty(int(frame_size[0]*frame_size[1]*3/2), dtype=np.uint8)
+          vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
+
+          camera_state = messaging.new_message(state)
+          frame = getattr(camera_state, state)
+          frame.frameId = n
+          pm.send(state, camera_state)
+        time.sleep(1.0/fps)
+
       managed_processes["loggerd"].stop()
 
       route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]