diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 179e237a65..46825219be 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -97,6 +97,50 @@ class TestLoggerd: return sent_msgs + def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5): + d = DEVICE_CAMERAS[("tici", "ar0231")] + streams = [ + (VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048 * 2346, 2048, 2048 * 1216), "roadCameraState"), + (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048 * 2346, 2048, 2048 * 1216), "driverCameraState"), + (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048 * 2346, 2048, 2048 * 1216), "wideRoadCameraState"), + ] + + pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"]) + vipc_server = VisionIpcServer("camerad") + for stream_type, frame_spec, _ in streams: + vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) + vipc_server.start_listener() + + os.environ["LOGGERD_TEST"] = "1" + os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length) + managed_processes["loggerd"].start() + managed_processes["encoderd"].start() + assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) + + fps = 20 + for n in range(1, int(num_segs * segment_length * fps) + 1): + # send video + for stream_type, frame_spec, state in streams: + dat = np.empty(frame_spec[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) + + # send audio + msg = messaging.new_message('rawAudioData') + msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16 + msg.rawAudioData.sampleRate = 16000 + pm.send('rawAudioData', msg) + + for _, _, state in streams: + assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) + + managed_processes["loggerd"].stop() + managed_processes["encoderd"].stop() + def test_init_data_values(self): os.environ["CLEAN"] = random.choice(["0", "1"]) @@ -138,51 +182,21 @@ class TestLoggerd: @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist") def test_rotation(self): - os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") - d = DEVICE_CAMERAS[("tici", "ar0231")] expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"} - streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"), - (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"), - (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")] - - pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"]) - vipc_server = VisionIpcServer("camerad") - for stream_type, frame_spec, _ in streams: - vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) - vipc_server.start_listener() num_segs = random.randint(2, 5) length = random.randint(1, 3) - os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) - managed_processes["loggerd"].start() - managed_processes["encoderd"].start() - assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) - - fps = 20.0 - for n in range(1, int(num_segs*length*fps)+1): - for stream_type, frame_spec, state in streams: - dat = np.empty(frame_spec[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) - - for _, _, state in streams: - assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) - managed_processes["loggerd"].stop() - managed_processes["encoderd"].stop() + self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length) route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] for n in range(num_segs): p = Path(f"{route_path}--{n}") logged = {f.name for f in p.iterdir() if f.is_file()} diff = logged ^ expected_files - assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" + assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" def test_bootlog(self): # generate bootlog with fake launch log @@ -281,3 +295,28 @@ class TestLoggerd: segment_dir = self._get_latest_log_dir() assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None + + @pytest.mark.parametrize("record_front", [True, False]) + def test_record_front(self, record_front): + params = Params() + params.put_bool("RecordFront", record_front) + + self._publish_camera_and_audio_messages() + + dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc')) + assert dcamera_hevc_exists == record_front + + @pytest.mark.parametrize("record_audio", [True, False]) + def test_record_audio(self, record_audio): + params = Params() + params.put_bool("RecordAudio", record_audio) + + self._publish_camera_and_audio_messages() + + qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts') + ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error" + has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b'' + assert has_audio_stream == record_audio + + raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst'))) + assert raw_audio_in_rlog == record_audio