From b7f5de03c265e55afe8cc03046658e550e69cc08 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 7 Apr 2025 15:47:56 -0700 Subject: [PATCH] Add test_log_compat --- selfdrive/test/fuzzy_generation.py | 7 +++-- selfdrive/test/process_replay/test_fuzzy.py | 2 +- .../test/process_replay/test_log_compat.py | 27 +++++++++++++++++++ 3 files changed, 31 insertions(+), 5 deletions(-) create mode 100644 selfdrive/test/process_replay/test_log_compat.py diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 94eb0dfaa6..c9f2353713 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -1,11 +1,10 @@ import capnp import hypothesis.strategies as st from typing import Any +from types import ModuleType from collections.abc import Callable from functools import cache -from cereal import log - DrawType = Callable[[st.SearchStrategy], Any] @@ -76,6 +75,6 @@ class FuzzyGenerator: return data @classmethod - def get_random_event_msg(cls, draw: DrawType, events: list[str], real_floats: bool = False) -> list[dict[str, Any]]: + def get_random_event_msg(cls, draw: DrawType, log_schema: ModuleType, events: list[str], real_floats: bool = False) -> list[dict[str, Any]]: fg = cls(draw, real_floats=real_floats) - return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)] + return [draw(fg.generate_struct(log_schema.Event.schema, e)) for e in sorted(events)] diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 723112163e..b6ee5a7b3f 100644 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -25,7 +25,7 @@ class TestFuzzProcesses: @settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) def test_fuzz_process(self, proc_name, cfg, data): - msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True) + msgs = FuzzyGenerator.get_random_event_msg(data.draw, log_schema=log, events=cfg.pubs, real_floats=True) lr = [log.Event.new_message(**m).as_reader() for m in msgs] cfg.timeout = 5 pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True) diff --git a/selfdrive/test/process_replay/test_log_compat.py b/selfdrive/test/process_replay/test_log_compat.py new file mode 100644 index 0000000000..d95a0cd622 --- /dev/null +++ b/selfdrive/test/process_replay/test_log_compat.py @@ -0,0 +1,27 @@ +import os +import capnp +import hypothesis.strategies as st +from hypothesis import given, settings, HealthCheck + +from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator +from openpilot.tools.lib.logreader import LogReader + +MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10")) + + +@given(st.data()) +@settings(max_examples=MAX_EXAMPLES, suppress_health_check=[HealthCheck.large_base_example]) +def test_log_backwards_compatibility(schema_path, data): + # capnp global parser needs to be cleaned up to avoid schema/struct ID conflicts + capnp.cleanup_global_schema_parser() + old_log = capnp.load(schema_path) + capnp.cleanup_global_schema_parser() + + msgs_dicts = FuzzyGenerator.get_random_event_msg(data.draw, log_schema=old_log, events=old_log.Event.schema.union_fields, real_floats=True) + msgs = [old_log.Event.new_message(**m).as_reader() for m in msgs_dicts] + dat = b"".join(msg.as_builder().to_bytes() for msg in msgs) + + lr = list(LogReader.from_bytes(dat)) + assert len(lr) == len(msgs) + # calling which() on a removed union type will raise an exception + assert set([m.which() for m in lr]) == set([msg.which() for msg in msgs])