test: RecordFront and RecordAudio (#35650)

record front and record audio tests

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()
+    self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length)
-    managed_processes["encoderd"].stop()
 
     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