process replay: support running in parallel (#24534)

* prefix params

* set env

* prefix in manager

* filesystem except

* dont delete manager folder

* Update selfdrive/common/params.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* debug same path

* remove cleanup + same default

* dont use filesystem lib

* param symlink path

* prefix helpers

* path

* dont delete d

* parallel loop

* refactor loop

* msgq

* clean msgs

* spelling

* nestable pool

* spelling

* logreaders in parallel

* bugfix

* assert msgq

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* assert in cereal

* folder exists

* create dirs in test

* bump cereal

* Update selfdrive/test/process_replay/process_replay.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* PR feedback

* params path in basedir

* ref commit

* param path

* bugfix

* upload_only

* param path

* Update selfdrive/test/process_replay/process_replay.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* msgq path name

* python concurrency.features

* progress bar

* remove progress bar from compare logs

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* defaultdict

* context manager

* update refs

* dont get logs if upload only

* upload refs in parallel

* cleanup

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* cleanup

* text

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 444d265821

selfdrive/test/process_replay/compare_logs.py

@@ -1,25 +1,18 @@
 #!/usr/bin/env python3
 import bz2
-import os
 import sys
 import math
 import numbers
 import dictdiffer
 from collections import Counter
 
-if "CI" in os.environ:
-  def tqdm(x):
-    return x
-else:
-  from tqdm import tqdm  # type: ignore
-
 from tools.lib.logreader import LogReader
 
 EPSILON = sys.float_info.epsilon
 
 
 def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in tqdm(log_msgs))
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
 
   if compress:
     dat = bz2.compress(dat)
@@ -67,7 +60,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
     raise Exception(f"logs are not same length: {len(log1)} VS {len(log2)}\n\t\t{cnt1}\n\t\t{cnt2}")
 
   diff = []
-  for msg1, msg2 in tqdm(zip(log1, log2)):
+  for msg1, msg2 in zip(log1, log2):
     if msg1.which() != msg2.which():
       print(msg1, msg2)
       raise Exception("msgs not aligned between logs")

selfdrive/test/process_replay/process_replay.py

@@ -4,11 +4,12 @@ import os
 import sys
 import threading
 import time
+import shutil
 import signal
+import uuid
 from collections import namedtuple
 
 import capnp
-from tqdm import tqdm
 
 import cereal.messaging as messaging
 from cereal import car, log
@@ -336,12 +337,35 @@ CONFIGS = [
   ),
 ]
 
+def setup_prefix():
+  os.environ['OPENPILOT_PREFIX'] = str(uuid.uuid4())
+  msgq_path = os.path.join('/dev/shm', os.environ['OPENPILOT_PREFIX'])
+  try:
+    os.mkdir(msgq_path)
+  except FileExistsError:
+    pass
+
+
+def teardown_prefix():
+  if not os.environ.get("OPENPILOT_PREFIX", 0):
+    return
+  symlink_path = Params().get_param_path()
+  if os.path.exists(symlink_path):
+    shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
+    os.remove(symlink_path)
+  msgq_path = os.path.join('/dev/shm', os.environ['OPENPILOT_PREFIX'])
+  shutil.rmtree(msgq_path, ignore_errors=True)
+
 
 def replay_process(cfg, lr, fingerprint=None):
-  if cfg.fake_pubsubmaster:
+  setup_prefix()
-    return python_replay_process(cfg, lr, fingerprint)
+  try:
-  else:
+    if cfg.fake_pubsubmaster:
-    return cpp_replay_process(cfg, lr, fingerprint)
+      return python_replay_process(cfg, lr, fingerprint)
+    else:
+      return cpp_replay_process(cfg, lr, fingerprint)
+  finally:
+    teardown_prefix()
 
 def setup_env(simulation=False):
   params = Params()
@@ -421,7 +445,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
     fsm.wait_for_update()
 
   log_msgs, msg_queue = [], []
-  for msg in tqdm(pub_msgs, disable=CI):
+  for msg in pub_msgs:
     if cfg.should_recv_callback is not None:
       recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm)
     else:
@@ -473,7 +497,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
       for s in sub_sockets:
         messaging.recv_one_or_none(sockets[s])
 
-      for i, msg in enumerate(tqdm(pub_msgs, disable=False)):
+      for i, msg in enumerate(pub_msgs):
         pm.send(msg.which(), msg.as_builder())
 
         resp_sockets = cfg.pub_sub[msg.which()] if cfg.should_recv_callback is None else cfg.should_recv_callback(msg)

selfdrive/test/process_replay/test_processes.py

@@ -1,7 +1,10 @@
 #!/usr/bin/env python3
 import argparse
+import concurrent.futures
 import os
 import sys
+from collections import defaultdict
+from tqdm import tqdm
 from typing import Any, Dict
 
 from selfdrive.car.car_helpers import interface_names
@@ -11,7 +14,6 @@ from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DI
 from selfdrive.version import get_commit
 from tools.lib.logreader import LogReader
 
-
 original_segments = [
   ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
@@ -54,6 +56,28 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 
 
+def run_test_process(data):
+  segment, cfg, args, cur_log_fn, lr, ref_commit = data
+  res = None
+  if not args.upload_only:
+    ref_log_fn = os.path.join(PROC_REPLAY_DIR, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+    res, log_msgs = test_process(cfg, lr, ref_log_fn, args.ignore_fields, args.ignore_msgs)
+    # save logs so we can upload when updating refs
+    save_log(cur_log_fn, log_msgs)
+  if args.update_refs or args.upload_only:
+    print(f'Uploading: {os.path.basename(cur_log_fn)}')
+    assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
+    upload_file(cur_log_fn, os.path.basename(cur_log_fn))
+    os.remove(cur_log_fn)
+  return (segment, cfg.proc_name, res)
+
+
+def get_logreader(segment):
+  r, n = segment.rsplit("--", 1)
+  lr = LogReader(get_url(r, n))
+  return (segment, lr)
+
+
 def test_process(cfg, lr, ref_log_fn, ignore_fields=None, ignore_msgs=None):
   if ignore_fields is None:
     ignore_fields = []
@@ -127,6 +151,7 @@ if __name__ == "__main__":
                       help="Updates reference logs using current commit")
   parser.add_argument("--upload-only", action="store_true",
                       help="Skips testing processes and uploads logs from previous test run")
+  parser.add_argument("-j", "--jobs", type=int, default=1)
   args = parser.parse_args()
 
   full_test = all(len(x) == 0 for x in (args.whitelist_procs, args.whitelist_cars, args.blacklist_procs, args.blacklist_cars, args.ignore_fields, args.ignore_msgs))
@@ -154,37 +179,31 @@ if __name__ == "__main__":
     untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
     assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
 
-  results: Any = {}
+  with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-  for car_brand, segment in segments:
+    if not args.upload_only:
-    if (len(args.whitelist_cars) and car_brand.upper() not in args.whitelist_cars) or \
+      lreaders: Any = {}
-       (not len(args.whitelist_cars) and car_brand.upper() in args.blacklist_cars):
+      p1 = pool.map(get_logreader, [seg for car, seg in segments])
-      continue
+      for (segment, lr) in tqdm(p1, desc="Getting Logs", total=len(segments)):
-
+        lreaders[segment] = lr
-    print(f"***** testing route segment {segment} *****\n")
+
-
+    pool_args: Any = []
-    results[segment] = {}
+    for car_brand, segment in segments:
-
+      if (len(args.whitelist_cars) and car_brand.upper() not in args.whitelist_cars) or \
-    r, n = segment.rsplit("--", 1)
+         (not len(args.whitelist_cars) and car_brand.upper() in args.blacklist_cars):
-    lr = LogReader(get_url(r, n))
-
-    for cfg in CONFIGS:
-      if (len(args.whitelist_procs) and cfg.proc_name not in args.whitelist_procs) or \
-         (not len(args.whitelist_procs) and cfg.proc_name in args.blacklist_procs):
         continue
-
+      for cfg in CONFIGS:
-      cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        if (len(args.whitelist_procs) and cfg.proc_name not in args.whitelist_procs) or \
-      if not args.upload_only:
+           (not len(args.whitelist_procs) and cfg.proc_name in args.blacklist_procs):
-        ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          continue
-        results[segment][cfg.proc_name], log_msgs = test_process(cfg, lr, ref_log_fn, args.ignore_fields, args.ignore_msgs)
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
-
+        lr = None if args.upload_only else lreaders[segment]
-        # save logs so we can upload when updating refs
+        pool_args.append((segment, cfg, args, cur_log_fn, lr, ref_commit))
-        save_log(cur_log_fn, log_msgs)
+
-
+    results: Any = defaultdict(dict)
-      if upload:
+    p2 = pool.map(run_test_process, pool_args)
-        print(f'Uploading: {os.path.basename(cur_log_fn)}')
+    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-        assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
+      if isinstance(result, list):
-        upload_file(cur_log_fn, os.path.basename(cur_log_fn))
+        results[segment][proc] = result
-        os.remove(cur_log_fn)
 
   diff1, diff2, failed = format_diff(results, ref_commit)
   if not args.upload_only: