openpilot_comma/selfdrive/test/process_replay

Process replay

Process replay is a regression test designed to identify any changes in the output of a process. This test replays a segment through individual processes and compares the output to a known good replay. Each make is represented in the test with a segment.

If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.

Use test_processes.py to run the test locally. Use FILEREADER_CACHE='1' test_processes.py to cache log files.

Currently the following processes are tested:

• controlsd
• radard
• plannerd
• calibrationd
• dmonitoringd
• locationd
• laikad
• paramsd
• ubloxd

Usage

Usage: test_processes.py [-h] [--whitelist-procs PROCS] [--whitelist-cars CARS] [--blacklist-procs PROCS]
                         [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] [--upload-only]
Regression test to identify changes in a process's output
optional arguments:
  -h, --help            show this help message and exit
  --whitelist-procs PROCS               Whitelist given processes from the test (e.g. controlsd)
  --whitelist-cars WHITELIST_CARS       Whitelist given cars from the test (e.g. HONDA)
  --blacklist-procs BLACKLIST_PROCS     Blacklist given processes from the test (e.g. controlsd)
  --blacklist-cars BLACKLIST_CARS       Blacklist given cars from the test (e.g. HONDA)
  --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. carState.events)
  --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. carEvents)
  --update-refs                         Updates reference logs using current commit
  --upload-only                         Skips testing processes and uploads logs from previous test run

Forks

openpilot forks can use this test with their own reference logs, by default test_proccess.py saves logs locally.

To generate new logs:

./test_processes.py

Then, check in the new logs using git-lfs. Make sure to also update the ref_commit file to the current commit.