openpilot_comma/selfdrive/loggerd/tests/test_encoder.py

#!/usr/bin/env python3
import math
import os
import random
import shutil
import subprocess
import time
import unittest
from pathlib import Path

from parameterized import parameterized
from tqdm import trange

from common.params import Params
from common.timeout import Timeout
from system.hardware import TICI
from selfdrive.loggerd.config import ROOT
from selfdrive.manager.process_config import managed_processes
from tools.lib.logreader import LogReader

SEGMENT_LENGTH = 2
FULL_SIZE = 2507572
CAMERAS = [
  ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
  ("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"),
  ("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"),
  ("qcamera.ts", 20, 130000, None),
]

# we check frame count, so we don't have to be too strict on size
FILE_SIZE_TOLERANCE = 0.5


class TestEncoder(unittest.TestCase):

  # TODO: all of loggerd should work on PC
  @classmethod
  def setUpClass(cls):
    if not TICI:
      raise unittest.SkipTest

  def setUp(self):
    self._clear_logs()
    os.environ["LOGGERD_TEST"] = "1"
    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(SEGMENT_LENGTH)

  def tearDown(self):
    self._clear_logs()

  def _clear_logs(self):
    if os.path.exists(ROOT):
      shutil.rmtree(ROOT)

  def _get_latest_segment_path(self):
    last_route = sorted(Path(ROOT).iterdir())[-1]
    return os.path.join(ROOT, last_route)

  # TODO: this should run faster than real time
  @parameterized.expand([(True, ), (False, )])
  def test_log_rotation(self, record_front):
    Params().put_bool("RecordFront", record_front)

    managed_processes['sensord'].start()
    managed_processes['loggerd'].start()
    managed_processes['encoderd'].start()

    time.sleep(1.0)
    managed_processes['camerad'].start()

    num_segments = int(os.getenv("SEGMENTS", random.randint(10, 15)))

    # wait for loggerd to make the dir for first segment
    route_prefix_path = None
    with Timeout(int(SEGMENT_LENGTH*3)):
      while route_prefix_path is None:
        try:
          route_prefix_path = self._get_latest_segment_path().rsplit("--", 1)[0]
        except Exception:
          time.sleep(0.1)

    def check_seg(i):
      # check each camera file size
      counts = []
      first_frames = []
      for camera, fps, size, encode_idx_name in CAMERAS:
        if not record_front and "dcamera" in camera:
          continue

        file_path = f"{route_prefix_path}--{i}/{camera}"

        # check file exists
        self.assertTrue(os.path.exists(file_path), f"segment #{i}: '{file_path}' missing")

        # TODO: this ffprobe call is really slow
        # check frame count
        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
        if TICI:
          cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd

        expected_frames = fps * SEGMENT_LENGTH
        probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
        frame_count = int(probe.split('\n')[0].strip())
        counts.append(frame_count)

        self.assertEqual(frame_count, expected_frames,
                         f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}")

        # sanity check file size
        file_size = os.path.getsize(file_path)
        self.assertTrue(math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE),
                        f"{file_path} size {file_size} isn't close to target size {size}")

        # Check encodeIdx
        if encode_idx_name is not None:
          rlog_path = f"{route_prefix_path}--{i}/rlog"
          msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name]
          encode_msgs = [getattr(m, encode_idx_name) for m in msgs]

          valid = [m.valid for m in msgs]
          segment_idxs = [m.segmentId for m in encode_msgs]
          encode_idxs = [m.encodeId for m in encode_msgs]
          frame_idxs = [m.frameId for m in encode_msgs]

          # Check frame count
          self.assertEqual(frame_count, len(segment_idxs))
          self.assertEqual(frame_count, len(encode_idxs))

          # Check for duplicates or skips
          self.assertEqual(0, segment_idxs[0])
          self.assertEqual(len(set(segment_idxs)), len(segment_idxs))

          self.assertTrue(all(valid))

          self.assertEqual(expected_frames * i, encode_idxs[0])
          first_frames.append(frame_idxs[0])
          self.assertEqual(len(set(encode_idxs)), len(encode_idxs))

      self.assertEqual(1, len(set(first_frames)))

      if TICI:
        expected_frames = fps * SEGMENT_LENGTH
        self.assertEqual(min(counts), expected_frames)
      shutil.rmtree(f"{route_prefix_path}--{i}")

    try:
      for i in trange(num_segments):
        # poll for next segment
        with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"):
          while Path(f"{route_prefix_path}--{i+1}") not in Path(ROOT).iterdir():
            time.sleep(0.1)
        check_seg(i)
    finally:
      managed_processes['loggerd'].stop()
      managed_processes['encoderd'].stop()
      managed_processes['camerad'].stop()
      managed_processes['sensord'].stop()


if __name__ == "__main__":
  unittest.main()