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117 lines
3.7 KiB
117 lines
3.7 KiB
#!/usr/bin/env python3
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import os
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import threading
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import time
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import unittest
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import subprocess
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import signal
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if "CI" in os.environ:
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def tqdm(x):
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return x
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else:
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from tqdm import tqdm # type: ignore
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import cereal.messaging as messaging
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from collections import namedtuple
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from openpilot.tools.lib.logreader import LogReader
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from openpilot.selfdrive.test.openpilotci import get_url
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from openpilot.common.basedir import BASEDIR
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ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response'])
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CONFIGS = [
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ProcessConfig(
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proc_name="ubloxd",
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pub_sub={
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"ubloxRaw": ["ubloxGnss", "gpsLocationExternal"],
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},
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ignore=[],
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command="./ubloxd",
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path="system/ubloxd",
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segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
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wait_for_response=True
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),
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]
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class TestValgrind(unittest.TestCase):
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def extract_leak_sizes(self, log):
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if "All heap blocks were freed -- no leaks are possible" in log:
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return (0,0,0)
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log = log.replace(",","") # fixes casting to int issue with large leaks
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err_lost1 = log.split("definitely lost: ")[1]
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err_lost2 = log.split("indirectly lost: ")[1]
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err_lost3 = log.split("possibly lost: ")[1]
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definitely_lost = int(err_lost1.split(" ")[0])
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indirectly_lost = int(err_lost2.split(" ")[0])
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possibly_lost = int(err_lost3.split(" ")[0])
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return (definitely_lost, indirectly_lost, possibly_lost)
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def valgrindlauncher(self, arg, cwd):
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os.chdir(os.path.join(BASEDIR, cwd))
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# Run valgrind on a process
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command = "valgrind --leak-check=full " + arg
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p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid)
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while not self.replay_done:
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time.sleep(0.1)
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# Kill valgrind and extract leak output
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os.killpg(os.getpgid(p.pid), signal.SIGINT)
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_, err = p.communicate()
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error_msg = str(err, encoding='utf-8')
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with open(os.path.join(BASEDIR, "selfdrive/test/valgrind_logs.txt"), "a") as f:
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f.write(error_msg)
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f.write(5 * "\n")
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definitely_lost, indirectly_lost, possibly_lost = self.extract_leak_sizes(error_msg)
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if max(definitely_lost, indirectly_lost, possibly_lost) > 0:
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self.leak = True
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print("LEAKS from", arg, "\nDefinitely lost:", definitely_lost, "\nIndirectly lost", indirectly_lost, "\nPossibly lost", possibly_lost)
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else:
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self.leak = False
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def replay_process(self, config, logreader):
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pub_sockets = list(config.pub_sub.keys()) # We dump data from logs here
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sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub] # We get responses here
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pm = messaging.PubMaster(pub_sockets)
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sm = messaging.SubMaster(sub_sockets)
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print("Sorting logs")
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all_msgs = sorted(logreader, key=lambda msg: msg.logMonoTime)
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pub_msgs = [msg for msg in all_msgs if msg.which() in list(config.pub_sub.keys())]
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thread = threading.Thread(target=self.valgrindlauncher, args=(config.command, config.path))
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thread.daemon = True
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thread.start()
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while not all(pm.all_readers_updated(s) for s in config.pub_sub.keys()):
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time.sleep(0)
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for msg in tqdm(pub_msgs):
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pm.send(msg.which(), msg.as_builder())
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if config.wait_for_response:
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sm.update(100)
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self.replay_done = True
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def test_config(self):
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open(os.path.join(BASEDIR, "selfdrive/test/valgrind_logs.txt"), "w").close()
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for cfg in CONFIGS:
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self.leak = None
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self.replay_done = False
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r, n = cfg.segment.rsplit("--", 1)
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lr = LogReader(get_url(r, n))
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self.replay_process(cfg, lr)
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while self.leak is None:
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time.sleep(0.1) # Wait for the valgrind to finish
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self.assertFalse(self.leak)
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if __name__ == "__main__":
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unittest.main()
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