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.
208 lines
8.4 KiB
208 lines
8.4 KiB
#!/usr/bin/env python3
|
|
import argparse
|
|
import os
|
|
import sys
|
|
from typing import Any, Dict
|
|
|
|
from selfdrive.car.car_helpers import interface_names
|
|
from selfdrive.test.openpilotci import get_url, upload_file
|
|
from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
|
|
from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process
|
|
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
|
|
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
|
|
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
|
|
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2
|
|
("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC)
|
|
("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH)
|
|
("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA
|
|
("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"), # SUBARU.IMPREZA
|
|
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT
|
|
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL
|
|
("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF
|
|
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"), # MAZDA.CX9_2021
|
|
|
|
# Enable when port is tested and dascamOnly is no longer set
|
|
#("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS
|
|
]
|
|
|
|
segments = [
|
|
("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
|
|
("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
|
|
("TOYOTA", "fakedata|2022-04-29--15-57-12--0"),
|
|
("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"),
|
|
("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"),
|
|
("HONDA", "fakedata|2022-01-20--17-56-40--0"),
|
|
("HONDA2", "fakedata|2022-04-29--16-31-55--0"),
|
|
("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
|
|
("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
|
|
("GM", "fakedata|2022-01-20--18-03-41--0"),
|
|
("NISSAN", "fakedata|2022-01-20--18-05-29--0"),
|
|
("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"),
|
|
("MAZDA", "fakedata|2022-01-20--18-09-32--0"),
|
|
]
|
|
|
|
# dashcamOnly makes don't need to be tested until a full port is done
|
|
excluded_interfaces = ["mock", "ford", "mazda", "tesla"]
|
|
|
|
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
|
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
|
|
|
|
|
def test_process(cfg, lr, ref_log_fn, ignore_fields=None, ignore_msgs=None):
|
|
if ignore_fields is None:
|
|
ignore_fields = []
|
|
if ignore_msgs is None:
|
|
ignore_msgs = []
|
|
|
|
ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
|
|
ref_log_msgs = list(LogReader(ref_log_path))
|
|
|
|
log_msgs = replay_process(cfg, lr)
|
|
|
|
# check to make sure openpilot is engaged in the route
|
|
if cfg.proc_name == "controlsd":
|
|
if not check_enabled(log_msgs):
|
|
segment = ref_log_fn.split("/")[-1].split("_")[0]
|
|
raise Exception(f"Route never enabled: {segment}")
|
|
|
|
try:
|
|
return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
|
|
except Exception as e:
|
|
return str(e), log_msgs
|
|
|
|
|
|
def format_diff(results, ref_commit):
|
|
diff1, diff2 = "", ""
|
|
diff2 += f"***** tested against commit {ref_commit} *****\n"
|
|
|
|
failed = False
|
|
for segment, result in list(results.items()):
|
|
diff1 += f"***** results for segment {segment} *****\n"
|
|
diff2 += f"***** differences for segment {segment} *****\n"
|
|
|
|
for proc, diff in list(result.items()):
|
|
diff1 += f"\t{proc}\n"
|
|
diff2 += f"*** process: {proc} ***\n"
|
|
|
|
if isinstance(diff, str):
|
|
diff1 += f"\t\t{diff}\n"
|
|
failed = True
|
|
elif len(diff):
|
|
cnt: Dict[str, int] = {}
|
|
for d in diff:
|
|
diff2 += f"\t{str(d)}\n"
|
|
|
|
k = str(d[1])
|
|
cnt[k] = 1 if k not in cnt else cnt[k] + 1
|
|
|
|
for k, v in sorted(cnt.items()):
|
|
diff1 += f"\t\t{k}: {v}\n"
|
|
failed = True
|
|
return diff1, diff2, failed
|
|
|
|
|
|
if __name__ == "__main__":
|
|
parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
|
|
|
|
# whitelist has precedence over blacklist in case both are defined
|
|
parser.add_argument("--whitelist-procs", type=str, nargs="*", default=[],
|
|
help="Whitelist given processes from the test (e.g. controlsd)")
|
|
parser.add_argument("--whitelist-cars", type=str, nargs="*", default=[],
|
|
help="Whitelist given cars from the test (e.g. HONDA)")
|
|
parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[],
|
|
help="Blacklist given processes from the test (e.g. controlsd)")
|
|
parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
|
|
help="Blacklist given cars from the test (e.g. HONDA)")
|
|
parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
|
|
help="Extra fields or msgs to ignore (e.g. carState.events)")
|
|
parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
|
|
help="Msgs to ignore (e.g. carEvents)")
|
|
parser.add_argument("--update-refs", action="store_true",
|
|
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")
|
|
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))
|
|
upload = args.update_refs or args.upload_only
|
|
os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
|
|
|
|
if upload:
|
|
assert full_test, "Need to run full test when updating refs"
|
|
|
|
try:
|
|
ref_commit = open(REF_COMMIT_FN).read().strip()
|
|
except FileNotFoundError:
|
|
print("Couldn't find reference commit")
|
|
sys.exit(1)
|
|
|
|
cur_commit = get_commit()
|
|
if cur_commit is None:
|
|
raise Exception("Couldn't get current commit")
|
|
|
|
print(f"***** testing against commit {ref_commit} *****")
|
|
|
|
# check to make sure all car brands are tested
|
|
if full_test:
|
|
tested_cars = {c.lower() for c, _ in segments}
|
|
untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
|
|
assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
|
|
|
|
results: Any = {}
|
|
for car_brand, segment in segments:
|
|
if (len(args.whitelist_cars) and car_brand.upper() not in args.whitelist_cars) or \
|
|
(not len(args.whitelist_cars) and car_brand.upper() in args.blacklist_cars):
|
|
continue
|
|
|
|
print(f"***** testing route segment {segment} *****\n")
|
|
|
|
results[segment] = {}
|
|
|
|
r, n = segment.rsplit("--", 1)
|
|
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
|
|
|
|
cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
|
|
if not args.upload_only:
|
|
ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
|
|
results[segment][cfg.proc_name], 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 upload:
|
|
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)
|
|
|
|
diff1, diff2, failed = format_diff(results, ref_commit)
|
|
if not args.upload_only:
|
|
with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
|
|
f.write(diff2)
|
|
print(diff1)
|
|
|
|
if failed:
|
|
print("TEST FAILED")
|
|
if not args.update_refs:
|
|
print("\n\nTo push the new reference logs for this commit run:")
|
|
print("./test_processes.py --upload-only")
|
|
else:
|
|
print("TEST SUCCEEDED")
|
|
|
|
if upload:
|
|
with open(REF_COMMIT_FN, "w") as f:
|
|
f.write(cur_commit)
|
|
print(f"\n\nUpdated reference logs for commit: {cur_commit}")
|
|
|
|
sys.exit(int(failed))
|
|
|