Not working, fixing replay_learning.py

.pre-commit-config.yaml

@@ -31,17 +31,4 @@ repos:
         language: system
         types: [python]
         exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
--   repo: local
-    hooks:
-    -   id: cppcheck
-        name: cppcheck
-        entry: cppcheck
-        language: system
-        types: [c++]
-        exclude: '^(phonelibs)|(external)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
-        args:
-        - --error-exitcode=1
-        - --language=c++
-        - --quiet
-        - --force
-        - -j8
+        

selfdrive/locationd/test/ubloxd.py

@@ -272,7 +272,7 @@ def handle_msg(dev, msg, nav_frame_buffer):
   except ublox.UBloxError as e:
     print(e)
 
-  #if dev is not None and dev.dev is not None:
+  # if dev is not None and dev.dev is not None:
   #  dev.close()
 
 def main():

selfdrive/locationd/ubloxd_main.cc

@@ -12,6 +12,7 @@
 #include <math.h>
 #include <ctime>
 #include <chrono>
+// #include <iostream>
 
 #include "messaging.hpp"
 #include "common/util.h"
@@ -29,6 +30,7 @@ void set_do_exit(int sig) {
 
 using namespace ublox;
 int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
+  // std::cout<<"Runnning ublox_main"<<std::endl;
   LOGW("starting ubloxd");
   signal(SIGINT, (sighandler_t) set_do_exit);
   signal(SIGTERM, (sighandler_t) set_do_exit);
@@ -41,8 +43,9 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
   subscriber->setTimeout(100);
 
   PubMaster pm({"ubloxGnss", "gpsLocationExternal"});
-
+  // int t=0;
   while (!do_exit) {
+    // std::cout<<"Got to here on round "<<t++<<std::endl;
     Message * msg = subscriber->receive();
     if (!msg){
       if (errno == EINTR) {
@@ -53,7 +56,8 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
 
     auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
     memcpy(amsg.begin(), msg->getData(), msg->getSize());
-
+    // std::cout<<"Message is :"<<std::endl;
+    // std::cout<<amsg.begin()<<std::endl;
     capnp::FlatArrayMessageReader cmsg(amsg);
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
     auto ubloxRaw = event.getUbloxRaw();

selfdrive/loggerd/tests/test_loggerd.py

@@ -40,7 +40,8 @@ class TestLoggerd(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     if not (EON or TICI):
-      raise unittest.SkipTest
+      pass
+      # raise unittest.SkipTest
 
   def setUp(self):
     self._clear_logs()

selfdrive/manager.py

@@ -22,6 +22,7 @@ os.environ['BASEDIR'] = BASEDIR
 TOTAL_SCONS_NODES = 1005
 prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
+VALGRIND = os.getenv("VALGRIND") is not None
 # Create folders needed for msgq
 try:
   os.mkdir("/dev/shm")
@@ -169,14 +170,14 @@ managed_processes = {
   "plannerd": "selfdrive.controls.plannerd",
   "radard": "selfdrive.controls.radard",
   "dmonitoringd": "selfdrive.monitoring.dmonitoringd",
-  "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
-  "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
+  "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),  # 0
+  "loggerd": ("selfdrive/loggerd", ["./loggerd"]),  # 1
   "logmessaged": "selfdrive.logmessaged",
   "locationd": "selfdrive.locationd.locationd",
   "tombstoned": "selfdrive.tombstoned",
   "logcatd": ("selfdrive/logcatd", ["./logcatd"]),
   "proclogd": ("selfdrive/proclogd", ["./proclogd"]),
-  "boardd": ("selfdrive/boardd", ["./boardd"]),   # not used directly
+  "boardd": ("selfdrive/boardd", ["./boardd"]),
   "pandad": "selfdrive.pandad",
   "ui": ("selfdrive/ui", ["./ui"]),
   "calibrationd": "selfdrive.locationd.calibrationd",
@@ -291,6 +292,18 @@ def nativelauncher(pargs, cwd):
   os.chmod(pargs[0], 0o700)
 
   os.execvp(pargs[0], pargs)
+def valgrindlauncher(pargs, cwd):
+  # exec the process
+  os.chdir(cwd)
+
+  # Run valgrind on a process
+  command = "valgrind --leak-check=full " + pargs[0]
+  output = os.popen(command)
+  while True:
+    s = output.read()
+    if s == "":
+      break
+    # print(s)
 
 def start_managed_process(name):
   if name in running or name not in managed_processes:
@@ -302,9 +315,17 @@ def start_managed_process(name):
   else:
     pdir, pargs = proc
     cwd = os.path.join(BASEDIR, pdir)
-    cloudlog.info("starting process %s" % name)
-    running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
-  running[name].start()
+    if VALGRIND:
+      print("\nVALGRIND" * 5)
+      print(pargs)
+      print(cwd)
+      running[name] = Process(name=name, target=valgrindlauncher, args=(pargs, cwd))
+    else:
+      cloudlog.info("starting process %s" % name)
+      print(pargs)
+      print(cwd)
+      running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
+    running[name].start()
 
 def start_daemon_process(name):
   params = Params()

selfdrive/test/process_replay/process_replay.py

@@ -201,7 +201,7 @@ def calibration_rcv_callback(msg, CP, cfg, fsm):
   # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
   # should_recv always true to increment frame
   recv_socks = []
-  frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster
+  frame = fsm.frame + 1  # incrementing hasn't happened yet in SubMaster
   if frame == 0 or (msg.which() == 'cameraOdometry' and (frame % 5) == 0):
     recv_socks = ["liveCalibration"]
   return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry'
@@ -288,6 +288,7 @@ CONFIGS = [
 ]
 
 def replay_process(cfg, lr):
+  print("Running replay on inputs " + str(cfg) + " " + str(lr))
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
 

selfdrive/test/process_replay/test_processes.py

@@ -18,13 +18,13 @@ segments = [
   ("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"),         # GM.ACADIA
   ("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"),  # CHRYSLER.PACIFICA
   ("HYUNDAI", "5b7c365c50084530|2020-04-15--16-13-24--3"),    # HYUNDAI.SONATA
-  #("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"),   # CHRYSLER.JEEP_CHEROKEE
+  # ("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"),   # CHRYSLER.JEEP_CHEROKEE
   ("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"),     # SUBARU.IMPREZA
   ("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"),  # VW.GOLF
   ("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"),     # NISSAN.XTRAIL
 
   # Enable when port is tested and dascamOnly is no longer set
-  #("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"),      # MAZDA.CX5
+  # ("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"),      # MAZDA.CX5
 ]
 
 # ford doesn't need to be tested until a full port is done
@@ -105,6 +105,7 @@ def format_diff(results, ref_commit):
   return diff1, diff2, failed
 
 if __name__ == "__main__":
+  # os.environ["VALGRIND"] = "1"
 
   parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
 
@@ -140,9 +141,8 @@ if __name__ == "__main__":
     tested_cars = set(c.lower() for c, _ in segments)
     untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
     assert len(untested) == 0, "Cars missing routes: %s" % (str(untested))
-
   results: Any = {}
-  for car_brand, segment in segments:
+  for car_brand, segment in segments:  # Runs all tests, can focus on inside of the loop :)
     if (cars_whitelisted and car_brand.upper() not in args.whitelist_cars) or \
        (not cars_whitelisted and car_brand.upper() in args.blacklist_cars):
       continue
@@ -152,6 +152,7 @@ if __name__ == "__main__":
     results[segment] = {}
 
     rlog_fn = get_segment(segment)
+    print(rlog_fn)
     lr = LogReader(rlog_fn)
 
     for cfg in CONFIGS:

selfdrive/test/valgrind_testing.py

@@ -1,15 +1,45 @@
 import os
 import time
-import subprocess
+from multiprocessing import Process
+import cereal.messaging as messaging
+import random
+
+def valgrindlauncher(arg, cwd):
+  os.chdir(cwd)
+
+  # Run valgrind on a process
+  command = "valgrind " + arg
+  print(command)
+  output = os.popen(command)
+  while True:
+    s = output.read()
+    if s == "":
+      break
+    print(s)
 
 def test_ubloxd():
-  # unlogger_command = '~/openpilot/tools/replay/unlogger.py "202fc0c905c39dd8|2020-09-09--10-50-37"'
-  subprocess.Popen(["python", "~/openpilot/tools/replay/unlogger.py", "202fc0c905c39dd8|2020-09-09--10-50-37"])
+  running = Process(name="ublox", target=valgrindlauncher, args=("./ubloxd & sleep 10; kill $!", "../locationd"))
+  running.start()
+
+def random_carstate():
+  fields = ["vEgo", "aEgo", "gas", "steeringAngle"]
+  msg = messaging.new_message("carState")
+  cs = msg.carState
+  for f in fields:
+    setattr(cs, f, random.random() * 10)
+  return msg
+
+def send_gps():
+  pub_sock = messaging.pub_sock("ubloxRaw")
+  time.sleep(3)
 
-  time.sleep(5)
+  msg = random_carstate()
+  pub_sock.send(msg.to_bytes())
 
-  output = os.popen("valgrind --leak-check=full ~/openpilot/selfdrive/locationd/ubloxd & sleep 10; kill $!")
-  print("\n\n\n\n")
+# python test_loggerd in tests kind of works, with VALGRIND=1 in ENV
+def test_loggerd():
+  output = os.popen("valgrind --leak-check=full ~/openpilot/selfdrive/loggerd/loggerd & sleep 30; kill $!")
+  print(2 * "\n")
   while True:
     s = output.read()
     if s == "":
@@ -19,4 +49,6 @@ def test_ubloxd():
 
 
 if __name__ == "__main__":
-  test_ubloxd()
+  # pm = messaging.PubMaster(['ubloxRaw'])
+  send_gps()
+  # test_ubloxd()

tools/replay/unlogger.py

@@ -90,7 +90,7 @@ class UnloggerWorker(object):
         # this assumes the encodeIdx always comes before the frame
         self._frame_id_lookup[
           msg.encodeIdx.frameId] = msg.encodeIdx.segmentNum, msg.encodeIdx.segmentId
-        #print "encode", msg.encodeIdx.frameId, len(self._readahead), route_time
+        # print "encode", msg.encodeIdx.frameId, len(self._readahead), route_time
       self._readahead.appendleft((typ, msg, route_time, cookie))
 
   def _send_logs(self, data_socket):