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@ -5,7 +5,7 @@ import os |
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import sys |
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from collections import defaultdict |
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from tqdm import tqdm |
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from typing import Any, Dict |
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from typing import Any, DefaultDict, Dict |
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from selfdrive.car.car_helpers import interface_names |
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from selfdrive.test.openpilotci import get_url, upload_file |
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@ -105,7 +105,7 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore |
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return str(e), log_msgs |
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def format_diff(results, ref_commit): |
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def format_diff(results, log_paths, ref_commit): |
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diff1, diff2 = "", "" |
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diff2 += f"***** tested against commit {ref_commit} *****\n" |
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@ -115,13 +115,22 @@ def format_diff(results, ref_commit): |
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diff2 += f"***** differences for segment {segment} *****\n" |
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for proc, diff in list(result.items()): |
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diff1 += f"\t{proc}\n" |
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# long diff |
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diff2 += f"*** process: {proc} ***\n" |
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diff2 += f"\tref: {log_paths[segment]['ref']}\n\n" |
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diff2 += f"\tnew: {log_paths[segment]['new']}\n\n" |
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# short diff |
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diff1 += f" {proc}\n" |
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if isinstance(diff, str): |
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diff1 += f"\t\t{diff}\n" |
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diff1 += f" ref: {log_paths[segment]['ref']}\n" |
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diff1 += f" new: {log_paths[segment]['new']}\n\n" |
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diff1 += f" {diff}\n" |
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failed = True |
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elif len(diff): |
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diff1 += f" ref: {log_paths[segment]['ref']}\n" |
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diff1 += f" new: {log_paths[segment]['new']}\n\n" |
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cnt: Dict[str, int] = {} |
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for d in diff: |
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diff2 += f"\t{str(d)}\n" |
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@ -130,7 +139,7 @@ def format_diff(results, ref_commit): |
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cnt[k] = 1 if k not in cnt else cnt[k] + 1 |
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for k, v in sorted(cnt.items()): |
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diff1 += f"\t\t{k}: {v}\n" |
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diff1 += f" {k}: {v}\n" |
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failed = True |
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return diff1, diff2, failed |
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@ -187,6 +196,8 @@ if __name__ == "__main__": |
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untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars} |
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assert len(untested) == 0, f"Cars missing routes: {str(untested)}" |
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log_paths: DefaultDict[str, Dict[str, str]] = defaultdict(dict) |
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with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: |
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if not args.upload_only: |
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download_segments = [seg for car, seg in segments if car in tested_cars] |
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@ -214,13 +225,16 @@ if __name__ == "__main__": |
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dat = None if args.upload_only else log_data[segment] |
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pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) |
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log_paths[segment]['ref'] = ref_log_path |
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log_paths[segment]['new'] = cur_log_fn |
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results: Any = defaultdict(dict) |
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p2 = pool.map(run_test_process, pool_args) |
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for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): |
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if not args.upload_only: |
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results[segment][proc + subtest_name] = result |
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diff1, diff2, failed = format_diff(results, ref_commit) |
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diff1, diff2, failed = format_diff(results, log_paths, ref_commit) |
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if not upload: |
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with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f: |
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f.write(diff2) |
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Adeeb Shihadeh
3 years ago
committed by
GitHub