You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
494 lines
14 KiB
494 lines
14 KiB
#!/usr/bin/env python2
|
|
import shutil
|
|
import time
|
|
import zmq
|
|
import os
|
|
import sys
|
|
import signal
|
|
import subprocess
|
|
import requests
|
|
from cereal import car
|
|
|
|
import selfdrive.manager as manager
|
|
from selfdrive.services import service_list
|
|
import selfdrive.messaging as messaging
|
|
from common.params import Params
|
|
from common.basedir import BASEDIR
|
|
from selfdrive.car.honda.values import CAR as HONDA
|
|
from selfdrive.car.toyota.values import CAR as TOYOTA
|
|
from selfdrive.car.gm.values import CAR as GM
|
|
from selfdrive.car.ford.values import CAR as FORD
|
|
from selfdrive.car.hyundai.values import CAR as HYUNDAI
|
|
from selfdrive.car.chrysler.values import CAR as CHRYSLER
|
|
from selfdrive.car.subaru.values import CAR as SUBARU
|
|
from selfdrive.car.mock.values import CAR as MOCK
|
|
|
|
|
|
os.environ['NOCRASH'] = '1'
|
|
|
|
|
|
def wait_for_socket(name, timeout=10.0):
|
|
socket = messaging.sub_sock(service_list[name].port)
|
|
cur_time = time.time()
|
|
|
|
r = None
|
|
while time.time() - cur_time < timeout:
|
|
print("waiting for %s" % name)
|
|
try:
|
|
r = socket.recv(zmq.NOBLOCK)
|
|
break
|
|
except zmq.error.Again:
|
|
pass
|
|
time.sleep(0.5)
|
|
return r
|
|
|
|
def get_route_logs(route_name):
|
|
for log_f in ["rlog.bz2", "fcamera.hevc"]:
|
|
log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), log_f))
|
|
|
|
if not os.path.isfile(log_path):
|
|
log_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/0/%s" % (route_name.replace("|", "/"), log_f)
|
|
r = requests.get(log_url)
|
|
|
|
if r.status_code == 200:
|
|
with open(log_path, "w") as f:
|
|
f.write(r.content)
|
|
else:
|
|
sys.exit(-1)
|
|
|
|
routes = {
|
|
|
|
"975b26878285314d|2018-12-25--14-42-13": {
|
|
'carFingerprint': CHRYSLER.PACIFICA_2018_HYBRID,
|
|
'enableCamera': True,
|
|
},
|
|
"b0c9d2329ad1606b|2019-01-06--10-11-23": {
|
|
'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
|
|
'enableCamera': True,
|
|
},
|
|
"0607d2516fc2148f|2019-02-13--23-03-16": {
|
|
'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
|
|
'enableCamera': True,
|
|
},
|
|
# This pacifica was removed because the fingerprint seemed from a Volt
|
|
#"9f7a7e50a51fb9db|2019-01-03--14-05-01": {
|
|
# 'carFingerprint': CHRYSLER.PACIFICA_2018,
|
|
# 'enableCamera': True,
|
|
#},
|
|
"9f7a7e50a51fb9db|2019-01-17--18-34-21": {
|
|
'carFingerprint': CHRYSLER.JEEP_CHEROKEE,
|
|
'enableCamera': True,
|
|
},
|
|
"192a598e34926b1e|2019-04-04--13-27-39": {
|
|
'carFingerprint': CHRYSLER.JEEP_CHEROKEE_2019,
|
|
'enableCamera': True,
|
|
},
|
|
"f1b4c567731f4a1b|2018-04-18--11-29-37": {
|
|
'carFingerprint': FORD.FUSION,
|
|
'enableCamera': False,
|
|
},
|
|
"f1b4c567731f4a1b|2018-04-30--10-15-35": {
|
|
'carFingerprint': FORD.FUSION,
|
|
'enableCamera': True,
|
|
},
|
|
"7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
|
|
'carFingerprint': GM.CADILLAC_CT6,
|
|
'enableCamera': True,
|
|
},
|
|
"265007255e794bce|2018-11-24--22-08-31": {
|
|
'carFingerprint': GM.CADILLAC_ATS,
|
|
'enableCamera': True,
|
|
},
|
|
"c950e28c26b5b168|2018-05-30--22-03-41": {
|
|
'carFingerprint': GM.VOLT,
|
|
'enableCamera': True,
|
|
},
|
|
# TODO: use another route that has radar data at start
|
|
"aadda448b49c99ad|2018-10-25--17-16-22": {
|
|
'carFingerprint': GM.MALIBU,
|
|
'enableCamera': True,
|
|
},
|
|
"49c73650e65ff465|2018-11-19--16-58-04": {
|
|
'carFingerprint': GM.HOLDEN_ASTRA,
|
|
'enableCamera': True,
|
|
},
|
|
"7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
|
|
'carFingerprint': GM.ACADIA,
|
|
'enableCamera': True,
|
|
},
|
|
"aa20e335f61ba898|2018-12-17--21-10-37": {
|
|
'carFingerprint': GM.BUICK_REGAL,
|
|
'enableCamera': False,
|
|
},
|
|
"aa20e335f61ba898|2019-02-05--16-59-04": {
|
|
'carFingerprint': GM.BUICK_REGAL,
|
|
'enableCamera': True,
|
|
},
|
|
"7d44af5b7a1b2c8e|2017-09-16--01-50-07": {
|
|
'carFingerprint': HONDA.CIVIC,
|
|
'enableCamera': True,
|
|
},
|
|
"c9d60e5e02c04c5c|2018-01-08--16-01-49": {
|
|
'carFingerprint': HONDA.CRV,
|
|
'enableCamera': True,
|
|
},
|
|
"1851183c395ef471|2018-05-31--18-07-21": {
|
|
'carFingerprint': HONDA.CRV_5G,
|
|
'enableCamera': True,
|
|
},
|
|
"232585b7784c1af4|2019-04-08--14-12-14": {
|
|
'carFingerprint': HONDA.CRV_HYBRID,
|
|
'enableCamera': True,
|
|
},
|
|
"2ac95059f70d76eb|2018-02-05--15-03-29": {
|
|
'carFingerprint': HONDA.ACURA_ILX,
|
|
'enableCamera': True,
|
|
},
|
|
"21aa231dee2a68bd|2018-01-30--04-54-41": {
|
|
'carFingerprint': HONDA.ODYSSEY,
|
|
'enableCamera': True,
|
|
},
|
|
"81722949a62ea724|2019-03-29--15-51-26": {
|
|
'carFingerprint': HONDA.ODYSSEY_CHN,
|
|
'enableCamera': False,
|
|
},
|
|
"81722949a62ea724|2019-04-06--15-19-25": {
|
|
'carFingerprint': HONDA.ODYSSEY_CHN,
|
|
'enableCamera': True,
|
|
},
|
|
"5a2cfe4bb362af9e|2018-02-02--23-41-07": {
|
|
'carFingerprint': HONDA.ACURA_RDX,
|
|
'enableCamera': True,
|
|
},
|
|
"3e9592a1c78a3d63|2018-02-08--20-28-24": {
|
|
'carFingerprint': HONDA.PILOT,
|
|
'enableCamera': True,
|
|
},
|
|
"34a84d2b765df688|2018-08-28--12-41-00": {
|
|
'carFingerprint': HONDA.PILOT_2019,
|
|
'enableCamera': True,
|
|
},
|
|
"900ad17e536c3dc7|2018-04-12--22-02-36": {
|
|
'carFingerprint': HONDA.RIDGELINE,
|
|
'enableCamera': True,
|
|
},
|
|
"f1b4c567731f4a1b|2018-06-06--14-43-46": {
|
|
'carFingerprint': HONDA.ACCORD,
|
|
'enableCamera': True,
|
|
},
|
|
"1582e1dc57175194|2018-08-15--07-46-07": {
|
|
'carFingerprint': HONDA.ACCORD_15,
|
|
'enableCamera': True,
|
|
},
|
|
# TODO: This doesnt fingerprint because the fingerprint overlaps with the Insight
|
|
# "690c4c9f9f2354c7|2018-09-15--17-36-05": {
|
|
# 'carFingerprint': HONDA.ACCORDH,
|
|
# 'enableCamera': True,
|
|
# },
|
|
"1632088eda5e6c4d|2018-06-07--08-03-18": {
|
|
'carFingerprint': HONDA.CIVIC_BOSCH,
|
|
'enableCamera': True,
|
|
},
|
|
#"18971a99f3f2b385|2018-11-14--19-09-31": {
|
|
# 'carFingerprint': HONDA.INSIGHT,
|
|
# 'enableCamera': True,
|
|
#},
|
|
"38bfd238edecbcd7|2018-08-22--09-45-44": {
|
|
'carFingerprint': HYUNDAI.SANTA_FE,
|
|
'enableCamera': False,
|
|
},
|
|
"38bfd238edecbcd7|2018-08-29--22-02-15": {
|
|
'carFingerprint': HYUNDAI.SANTA_FE,
|
|
'enableCamera': True,
|
|
},
|
|
"a893a80e5c5f72c8|2019-01-14--20-02-59": {
|
|
'carFingerprint': HYUNDAI.GENESIS,
|
|
'enableCamera': True,
|
|
},
|
|
"9d5fb4f0baa1b3e1|2019-01-14--17-45-59": {
|
|
'carFingerprint': HYUNDAI.KIA_SORENTO,
|
|
'enableCamera': True,
|
|
},
|
|
"215cd70e9c349266|2018-11-25--22-22-12": {
|
|
'carFingerprint': HYUNDAI.KIA_STINGER,
|
|
'enableCamera': True,
|
|
},
|
|
"31390e3eb6f7c29a|2019-01-23--08-56-00": {
|
|
'carFingerprint': HYUNDAI.KIA_OPTIMA,
|
|
'enableCamera': True,
|
|
},
|
|
"53ac3251e03f95d7|2019-01-10--13-43-32": {
|
|
'carFingerprint': HYUNDAI.ELANTRA,
|
|
'enableCamera': True,
|
|
},
|
|
"f7b6be73e3dfd36c|2019-05-12--18-07-16": {
|
|
'carFingerprint': TOYOTA.AVALON,
|
|
'enableCamera': False,
|
|
'enableDsu': False,
|
|
},
|
|
"f7b6be73e3dfd36c|2019-05-11--22-34-20": {
|
|
'carFingerprint': TOYOTA.AVALON,
|
|
'enableCamera': True,
|
|
'enableDsu': False,
|
|
},
|
|
"b0f5a01cf604185c|2018-01-26--00-54-32": {
|
|
'carFingerprint': TOYOTA.COROLLA,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
},
|
|
"b0f5a01cf604185c|2018-01-26--10-54-38": {
|
|
'carFingerprint': TOYOTA.COROLLA,
|
|
'enableCamera': True,
|
|
'enableDsu': False,
|
|
},
|
|
"b0f5a01cf604185c|2018-01-26--10-59-31": {
|
|
'carFingerprint': TOYOTA.COROLLA,
|
|
'enableCamera': False,
|
|
'enableDsu': False,
|
|
},
|
|
"5f5afb36036506e4|2019-05-14--02-09-54": {
|
|
'carFingerprint': TOYOTA.COROLLA_TSS2,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
},
|
|
"56fb1c86a9a86404|2017-11-10--10-18-43": {
|
|
'carFingerprint': TOYOTA.PRIUS,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
},
|
|
"b0f5a01cf604185c|2017-12-18--20-32-32": {
|
|
'carFingerprint': TOYOTA.RAV4,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
'enableGasInterceptor': False,
|
|
},
|
|
"b0c9d2329ad1606b|2019-04-02--13-24-43": {
|
|
'carFingerprint': TOYOTA.RAV4,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
'enableGasInterceptor': True,
|
|
},
|
|
"cdf2f7de565d40ae|2019-04-25--03-53-41": {
|
|
'carFingerprint': TOYOTA.RAV4_TSS2,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
},
|
|
"f49e8041283f2939|2019-05-29--13-48-33": {
|
|
'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
|
|
'enableCamera': False,
|
|
'enableDsu': False,
|
|
},
|
|
"f49e8041283f2939|2019-05-30--11-51-51": {
|
|
'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
},
|
|
"b0f5a01cf604185c|2018-02-01--21-12-28": {
|
|
'carFingerprint': TOYOTA.LEXUS_RXH,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
},
|
|
#FIXME: This works sometimes locally, but never in CI. Timing issue?
|
|
#"b0f5a01cf604185c|2018-01-31--20-11-39": {
|
|
# 'carFingerprint': TOYOTA.LEXUS_RXH,
|
|
# 'enableCamera': False,
|
|
# 'enableDsu': False,
|
|
#},
|
|
"8ae193ceb56a0efe|2018-06-18--20-07-32": {
|
|
'carFingerprint': TOYOTA.RAV4H,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
},
|
|
"fd10b9a107bb2e49|2018-07-24--16-32-42": {
|
|
'carFingerprint': TOYOTA.CHR,
|
|
'enableCamera': True,
|
|
'enableDsu': False,
|
|
},
|
|
"fd10b9a107bb2e49|2018-07-24--20-32-08": {
|
|
'carFingerprint': TOYOTA.CHR,
|
|
'enableCamera': False,
|
|
'enableDsu': False,
|
|
},
|
|
"b4c18bf13d5955da|2018-07-29--13-39-46": {
|
|
'carFingerprint': TOYOTA.CHRH,
|
|
'enableCamera': True,
|
|
'enableDsu': False,
|
|
},
|
|
"d2d8152227f7cb82|2018-07-25--13-40-56": {
|
|
'carFingerprint': TOYOTA.CAMRY,
|
|
'enableCamera': True,
|
|
'enableDsu': False,
|
|
},
|
|
"fbd011384db5e669|2018-07-26--20-51-48": {
|
|
'carFingerprint': TOYOTA.CAMRYH,
|
|
'enableCamera': True,
|
|
'enableDsu': False,
|
|
},
|
|
# TODO: This replay has no good model/video
|
|
# "c9fa2dd0f76caf23|2018-02-10--13-40-28": {
|
|
# 'carFingerprint': TOYOTA.CAMRYH,
|
|
# 'enableCamera': False,
|
|
# 'enableDsu': False,
|
|
# },
|
|
# TODO: missingsome combos for highlander
|
|
"aa659debdd1a7b54|2018-08-31--11-12-01": {
|
|
'carFingerprint': TOYOTA.HIGHLANDER,
|
|
'enableCamera': False,
|
|
'enableDsu': False,
|
|
},
|
|
"362d23d4d5bea2fa|2018-09-02--17-03-55": {
|
|
'carFingerprint': TOYOTA.HIGHLANDERH,
|
|
'enableCamera': True,
|
|
'enableDsu': True,
|
|
},
|
|
"eb6acd681135480d|2019-06-20--20-00-00": {
|
|
'carFingerprint': TOYOTA.SIENNA,
|
|
'enableCamera': True,
|
|
'enableDsu': False,
|
|
},
|
|
"362d23d4d5bea2fa|2018-08-10--13-31-40": {
|
|
'carFingerprint': TOYOTA.HIGHLANDERH,
|
|
'enableCamera': False,
|
|
'enableDsu': False,
|
|
},
|
|
"791340bc01ed993d|2019-03-10--16-28-08": {
|
|
'carFingerprint': SUBARU.IMPREZA,
|
|
'enableCamera': True,
|
|
},
|
|
# Tesla route, should result in mock car
|
|
"07cb8a788c31f645|2018-06-17--18-50-29": {
|
|
'carFingerprint': MOCK.MOCK,
|
|
},
|
|
## Route with no can data, should result in mock car. This is not supported anymore
|
|
#"bfa17080b080f3ec|2018-06-28--23-27-47": {
|
|
# 'carFingerprint': MOCK.MOCK,
|
|
#},
|
|
}
|
|
|
|
passive_routes = [
|
|
"07cb8a788c31f645|2018-06-17--18-50-29",
|
|
#"bfa17080b080f3ec|2018-06-28--23-27-47",
|
|
]
|
|
|
|
public_routes = [
|
|
"f1b4c567731f4a1b|2018-06-06--14-43-46",
|
|
"f1b4c567731f4a1b|2018-04-18--11-29-37",
|
|
"f1b4c567731f4a1b|2018-04-18--11-29-37",
|
|
"7ed9cdf8d0c5f43e|2018-05-17--09-31-36",
|
|
"38bfd238edecbcd7|2018-08-22--09-45-44",
|
|
"38bfd238edecbcd7|2018-08-29--22-02-15",
|
|
"b0f5a01cf604185c|2018-01-26--00-54-32",
|
|
"b0f5a01cf604185c|2018-01-26--10-54-38",
|
|
"b0f5a01cf604185c|2018-01-26--10-59-31",
|
|
"56fb1c86a9a86404|2017-11-10--10-18-43",
|
|
"b0f5a01cf604185c|2017-12-18--20-32-32",
|
|
"b0c9d2329ad1606b|2019-04-02--13-24-43",
|
|
"791340bc01ed993d|2019-03-10--16-28-08",
|
|
]
|
|
|
|
if __name__ == "__main__":
|
|
|
|
results = {}
|
|
for route, checks in routes.items():
|
|
|
|
if route not in public_routes:
|
|
print "route not public", route
|
|
continue
|
|
|
|
get_route_logs(route)
|
|
|
|
for _ in range(3):
|
|
shutil.rmtree('/data/params')
|
|
manager.gctx = {}
|
|
params = Params()
|
|
params.manager_start()
|
|
if route in passive_routes:
|
|
params.put("Passive", "1")
|
|
else:
|
|
params.put("Passive", "0")
|
|
|
|
print "testing ", route, " ", checks['carFingerprint']
|
|
print "Preparing processes"
|
|
manager.prepare_managed_process("radard")
|
|
manager.prepare_managed_process("controlsd")
|
|
manager.prepare_managed_process("plannerd")
|
|
print "Starting processes"
|
|
manager.start_managed_process("radard")
|
|
manager.start_managed_process("controlsd")
|
|
manager.start_managed_process("plannerd")
|
|
time.sleep(2)
|
|
|
|
# Start unlogger
|
|
print "Start unlogger"
|
|
unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), '%s' % route, '/tmp', '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl', '--no-interactive']
|
|
unlogger = subprocess.Popen(unlogger_cmd, preexec_fn=os.setsid)
|
|
|
|
print "Check sockets"
|
|
controls_state_result = wait_for_socket('controlsState', timeout=30)
|
|
radarstate_result = wait_for_socket('radarState', timeout=30)
|
|
plan_result = wait_for_socket('plan', timeout=30)
|
|
|
|
if route not in passive_routes: # TODO The passive routes have very flaky models
|
|
path_plan_result = wait_for_socket('pathPlan', timeout=30)
|
|
else:
|
|
path_plan_result = True
|
|
|
|
carstate_result = wait_for_socket('carState', timeout=30)
|
|
|
|
print "Check if everything is running"
|
|
running = manager.get_running()
|
|
controlsd_running = running['controlsd'].is_alive()
|
|
radard_running = running['radard'].is_alive()
|
|
plannerd_running = running['plannerd'].is_alive()
|
|
|
|
manager.kill_managed_process("controlsd")
|
|
manager.kill_managed_process("radard")
|
|
manager.kill_managed_process("plannerd")
|
|
os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
|
|
|
|
sockets_ok = all([
|
|
controls_state_result, radarstate_result, plan_result, path_plan_result, carstate_result,
|
|
controlsd_running, radard_running, plannerd_running
|
|
])
|
|
params_ok = True
|
|
failures = []
|
|
|
|
if not controlsd_running:
|
|
failures.append('controlsd')
|
|
if not radard_running:
|
|
failures.append('radard')
|
|
if not radarstate_result:
|
|
failures.append('radarState')
|
|
if not controls_state_result:
|
|
failures.append('controlsState')
|
|
if not plan_result:
|
|
failures.append('plan')
|
|
if not path_plan_result:
|
|
failures.append('pathPlan')
|
|
|
|
try:
|
|
car_params = car.CarParams.from_bytes(params.get("CarParams"))
|
|
for k, v in checks.items():
|
|
if not v == getattr(car_params, k):
|
|
params_ok = False
|
|
failures.append(k)
|
|
except:
|
|
params_ok = False
|
|
|
|
if sockets_ok and params_ok:
|
|
print "Success"
|
|
results[route] = True, failures
|
|
break
|
|
else:
|
|
print "Failure"
|
|
results[route] = False, failures
|
|
|
|
time.sleep(2)
|
|
|
|
print results
|
|
params.put("Passive", "0") # put back not passive to not leave the params in an unintended state
|
|
if not all(passed for passed, _ in results.values()):
|
|
print "TEST FAILED"
|
|
sys.exit(1)
|
|
else:
|
|
print "TEST SUCESSFUL"
|
|
|