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.
118 lines
3.6 KiB
118 lines
3.6 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import requests
|
|
import sys
|
|
import tempfile
|
|
|
|
from selfdrive.test.process_replay.compare_logs import compare_logs
|
|
from selfdrive.test.process_replay.process_replay import replay_process, CONFIGS
|
|
from tools.lib.logreader import LogReader
|
|
|
|
segments = [
|
|
"0375fdf7b1ce594d|2019-06-13--08-32-25--3", # HONDA.ACCORD
|
|
"99c94dc769b5d96e|2019-08-03--14-19-59--2", # HONDA.CIVIC
|
|
"cce908f7eb8db67d|2019-08-02--15-09-51--3", # TOYOTA.COROLLA_TSS2
|
|
"7ad88f53d406b787|2019-07-09--10-18-56--8", # GM.VOLT
|
|
"704b2230eb5190d6|2019-07-06--19-29-10--0", # HYUNDAI.KIA_SORENTO
|
|
"b6e1317e1bfbefa6|2019-07-06--04-05-26--5", # CHRYSLER.JEEP_CHEROKEE
|
|
"7873afaf022d36e2|2019-07-03--18-46-44--0", # SUBARU.IMPREZA
|
|
]
|
|
|
|
def get_segment(segment_name):
|
|
route_name, segment_num = segment_name.rsplit("--", 1)
|
|
rlog_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/%s/rlog.bz2" \
|
|
% (route_name.replace("|", "/"), segment_num)
|
|
r = requests.get(rlog_url)
|
|
if r.status_code != 200:
|
|
return None
|
|
|
|
with tempfile.NamedTemporaryFile(delete=False, suffix=".bz2") as f:
|
|
f.write(r.content)
|
|
return f.name
|
|
|
|
if __name__ == "__main__":
|
|
|
|
process_replay_dir = os.path.dirname(os.path.abspath(__file__))
|
|
ref_commit_fn = os.path.join(process_replay_dir, "ref_commit")
|
|
|
|
if not os.path.isfile(ref_commit_fn):
|
|
print("couldn't find reference commit")
|
|
sys.exit(1)
|
|
|
|
ref_commit = open(ref_commit_fn).read().strip()
|
|
print("***** testing against commit %s *****" % ref_commit)
|
|
|
|
results = {}
|
|
for segment in segments:
|
|
print("***** testing route segment %s *****\n" % segment)
|
|
|
|
results[segment] = {}
|
|
|
|
rlog_fn = get_segment(segment)
|
|
|
|
if rlog_fn is None:
|
|
print("failed to get segment %s" % segment)
|
|
sys.exit(1)
|
|
|
|
lr = LogReader(rlog_fn)
|
|
|
|
for cfg in CONFIGS:
|
|
log_msgs = replay_process(cfg, lr)
|
|
|
|
log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
|
|
|
|
if not os.path.isfile(log_fn):
|
|
url = "https://commadataci.blob.core.windows.net/openpilotci/"
|
|
req = requests.get(url + os.path.basename(log_fn))
|
|
if req.status_code != 200:
|
|
results[segment][cfg.proc_name] = "failed to download comparison log"
|
|
continue
|
|
|
|
with tempfile.NamedTemporaryFile(suffix=".bz2") as f:
|
|
f.write(req.content)
|
|
f.flush()
|
|
f.seek(0)
|
|
cmp_log_msgs = list(LogReader(f.name))
|
|
else:
|
|
cmp_log_msgs = list(LogReader(log_fn))
|
|
|
|
diff = compare_logs(cmp_log_msgs, log_msgs, cfg.ignore)
|
|
results[segment][cfg.proc_name] = diff
|
|
os.remove(rlog_fn)
|
|
|
|
failed = False
|
|
with open(os.path.join(process_replay_dir, "diff.txt"), "w") as f:
|
|
f.write("***** tested against commit %s *****\n" % ref_commit)
|
|
|
|
for segment, result in list(results.items()):
|
|
f.write("***** differences for segment %s *****\n" % segment)
|
|
print("***** results for segment %s *****" % segment)
|
|
|
|
for proc, diff in list(result.items()):
|
|
f.write("*** process: %s ***\n" % proc)
|
|
print("\t%s" % proc)
|
|
|
|
if isinstance(diff, str):
|
|
print("\t\t%s" % diff)
|
|
failed = True
|
|
elif len(diff):
|
|
cnt = {}
|
|
for d in diff:
|
|
f.write("\t%s\n" % str(d))
|
|
|
|
k = str(d[1])
|
|
cnt[k] = 1 if k not in cnt else cnt[k] + 1
|
|
|
|
for k, v in sorted(cnt.items()):
|
|
print("\t\t%s: %s" % (k, v))
|
|
failed = True
|
|
|
|
if failed:
|
|
print("TEST FAILED")
|
|
else:
|
|
print("TEST SUCCEEDED")
|
|
|
|
print("\n\nTo update the reference logs for this test run:")
|
|
print("./update_refs.py")
|
|
|
|
sys.exit(int(failed))
|
|
|