openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#!/usr/bin/env python3
import bz2
import os
import sys
import dictdiffer
if "CI" in os.environ:
tqdm = lambda x: x
else:
from tqdm import tqdm
from tools.lib.logreader import LogReader
def save_log(dest, log_msgs):
dat = b""
for msg in log_msgs:
dat += msg.as_builder().to_bytes()
dat = bz2.compress(dat)
with open(dest, "wb") as f:
f.write(dat)
def remove_ignored_fields(msg, ignore):
msg = msg.as_builder()
for key, val in ignore:
attr = msg
keys = key.split(".")
if msg.which() not in key and len(keys) > 1:
continue
for k in keys[:-1]:
try:
attr = getattr(msg, k)
except:
break
else:
setattr(attr, keys[-1], val)
return msg.as_reader()
def compare_logs(log1, log2, ignore=[]):
assert len(log1) == len(log2), "logs are not same length: " + str(len(log1)) + " VS " + str(len(log2))
ignore_fields = [k for k, v in ignore]
diff = []
for msg1, msg2 in tqdm(zip(log1, log2)):
if msg1.which() != msg2.which():
print(msg1, msg2)
assert False, "msgs not aligned between logs"
msg1_bytes = remove_ignored_fields(msg1, ignore).as_builder().to_bytes()
msg2_bytes = remove_ignored_fields(msg2, ignore).as_builder().to_bytes()
if msg1_bytes != msg2_bytes:
msg1_dict = msg1.to_dict(verbose=True)
msg2_dict = msg2.to_dict(verbose=True)
dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields, tolerance=0)
diff.extend(dd)
return diff
if __name__ == "__main__":
log1 = list(LogReader(sys.argv[1]))
log2 = list(LogReader(sys.argv[2]))
print(compare_logs(log1, log2, sys.argv[3:]))