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324 lines
12 KiB
324 lines
12 KiB
import numpy as np
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import os
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import re
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import random
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import string
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import subprocess
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import time
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from collections import defaultdict
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from pathlib import Path
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import pytest
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import cereal.messaging as messaging
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from cereal import log
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from cereal.services import SERVICE_LIST
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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from openpilot.common.timeout import Timeout
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from openpilot.system.hardware.hw import Paths
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from openpilot.system.loggerd.xattr_cache import getxattr
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from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
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from openpilot.system.manager.process_config import managed_processes
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from openpilot.system.version import get_version
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from openpilot.tools.lib.helpers import RE
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from openpilot.tools.lib.logreader import LogReader
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from msgq.visionipc import VisionIpcServer, VisionStreamType
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from openpilot.common.transformations.camera import DEVICE_CAMERAS
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SentinelType = log.Sentinel.SentinelType
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CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
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and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
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class TestLoggerd:
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def _get_latest_log_dir(self):
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log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
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return log_dirs[-1]
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def _get_log_dir(self, x):
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for l in x.splitlines():
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for p in l.split(' '):
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path = Path(p.strip())
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if path.is_dir():
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return path
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return None
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def _get_log_fn(self, x):
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for l in x.splitlines():
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for p in l.split(' '):
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path = Path(p.strip())
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if path.is_file():
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return path
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return None
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def _gen_bootlog(self):
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with Timeout(5):
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out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')
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log_fn = self._get_log_fn(out)
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# check existence
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assert log_fn is not None
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return log_fn
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def _check_init_data(self, msgs):
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msg = msgs[0]
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assert msg.which() == 'initData'
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def _check_sentinel(self, msgs, route):
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start_type = SentinelType.startOfRoute if route else SentinelType.startOfSegment
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assert msgs[1].sentinel.type == start_type
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end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
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assert msgs[-1].sentinel.type == end_type
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def _publish_random_messages(self, services: list[str]) -> dict[str, list]:
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pm = messaging.PubMaster(services)
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managed_processes["loggerd"].start()
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for s in services:
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assert pm.wait_for_readers_to_update(s, timeout=5)
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sent_msgs = defaultdict(list)
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for _ in range(random.randint(2, 10) * 100):
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for s in services:
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try:
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m = messaging.new_message(s)
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except Exception:
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m = messaging.new_message(s, random.randint(2, 10))
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pm.send(s, m)
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sent_msgs[s].append(m)
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for s in services:
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assert pm.wait_for_readers_to_update(s, timeout=5)
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managed_processes["loggerd"].stop()
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return sent_msgs
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def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
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d = DEVICE_CAMERAS[("tici", "ar0231")]
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streams = [
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(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048 * 2346, 2048, 2048 * 1216), "roadCameraState"),
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(VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048 * 2346, 2048, 2048 * 1216), "driverCameraState"),
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(VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048 * 2346, 2048, 2048 * 1216), "wideRoadCameraState"),
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]
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pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
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vipc_server = VisionIpcServer("camerad")
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for stream_type, frame_spec, _ in streams:
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vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
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vipc_server.start_listener()
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os.environ["LOGGERD_TEST"] = "1"
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os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length)
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managed_processes["loggerd"].start()
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managed_processes["encoderd"].start()
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assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
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fps = 20
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for n in range(1, int(num_segs * segment_length * fps) + 1):
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# send video
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for stream_type, frame_spec, state in streams:
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dat = np.empty(frame_spec[2], dtype=np.uint8)
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vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps)
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camera_state = messaging.new_message(state)
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frame = getattr(camera_state, state)
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frame.frameId = n
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pm.send(state, camera_state)
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# send audio
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msg = messaging.new_message('rawAudioData')
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msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16
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msg.rawAudioData.sampleRate = 16000
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pm.send('rawAudioData', msg)
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for _, _, state in streams:
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assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
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managed_processes["loggerd"].stop()
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managed_processes["encoderd"].stop()
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def test_init_data_values(self):
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os.environ["CLEAN"] = random.choice(["0", "1"])
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dongle = ''.join(random.choice(string.printable) for n in range(random.randint(1, 100)))
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fake_params = [
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# param, initData field, value
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("DongleId", "dongleId", dongle),
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("GitCommit", "gitCommit", "commit"),
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("GitCommitDate", "gitCommitDate", "date"),
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("GitBranch", "gitBranch", "branch"),
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("GitRemote", "gitRemote", "remote"),
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]
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params = Params()
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for k, _, v in fake_params:
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params.put(k, v)
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params.put("AccessToken", "abc")
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lr = list(LogReader(str(self._gen_bootlog())))
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initData = lr[0].initData
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assert initData.dirty != bool(os.environ["CLEAN"])
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assert initData.version == get_version()
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if os.path.isfile("/proc/cmdline"):
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with open("/proc/cmdline") as f:
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assert list(initData.kernelArgs) == f.read().strip().split(" ")
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with open("/proc/version") as f:
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assert initData.kernelVersion == f.read()
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# check params
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logged_params = {entry.key: entry.value for entry in initData.params.entries}
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expected_params = {k for k, _, __ in fake_params} | {'AccessToken', 'BootCount'}
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assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params
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assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}"
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for param_key, initData_key, v in fake_params:
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assert getattr(initData, initData_key) == v
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assert logged_params[param_key].decode() == v
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@pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
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def test_rotation(self):
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Params().put("RecordFront", True)
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expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
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num_segs = random.randint(2, 3)
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length = random.randint(4, 5) # H264 encoder uses 40 lookahead frames and does B-frame reordering, so minimum 3 seconds before qcam output
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self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length)
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route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
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for n in range(num_segs):
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p = Path(f"{route_path}--{n}")
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logged = {f.name for f in p.iterdir() if f.is_file()}
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diff = logged ^ expected_files
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assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
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def test_bootlog(self):
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# generate bootlog with fake launch log
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launch_log = ''.join(str(random.choice(string.printable)) for _ in range(100))
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with open("/tmp/launch_log", "w") as f:
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f.write(launch_log)
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bootlog_path = self._gen_bootlog()
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lr = list(LogReader(str(bootlog_path)))
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# check length
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assert len(lr) == 2 # boot + initData
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self._check_init_data(lr)
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# check msgs
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bootlog_msgs = [m for m in lr if m.which() == 'boot']
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assert len(bootlog_msgs) == 1
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# sanity check values
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boot = bootlog_msgs.pop().boot
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assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
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assert boot.launchLog == launch_log
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for fn in ["console-ramoops", "pmsg-ramoops-0"]:
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path = Path(os.path.join("/sys/fs/pstore/", fn))
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if path.is_file():
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with open(path, "rb") as f:
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expected_val = f.read()
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bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
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assert expected_val == bootlog_val
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# next one should increment by one
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bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
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bl2 = re.match(RE.LOG_ID_V2, self._gen_bootlog().name)
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assert bl1.group('uid') != bl2.group('uid')
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assert int(bl1.group('count')) == 0 and int(bl2.group('count')) == 1
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def test_qlog(self):
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qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None]
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no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None]
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services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
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random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
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sent_msgs = self._publish_random_messages(services)
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qlog_path = os.path.join(self._get_latest_log_dir(), "qlog.zst")
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lr = list(LogReader(qlog_path))
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# check initData and sentinel
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self._check_init_data(lr)
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self._check_sentinel(lr, True)
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recv_msgs = defaultdict(list)
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for m in lr:
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recv_msgs[m.which()].append(m)
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for s, msgs in sent_msgs.items():
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recv_cnt = len(recv_msgs[s])
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if s in no_qlog_services:
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# check services with no specific decimation aren't in qlog
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assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog"
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else:
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# check logged message count matches decimation
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expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
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assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}"
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def test_rlog(self):
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services = random.sample(CEREAL_SERVICES, random.randint(5, 10))
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sent_msgs = self._publish_random_messages(services)
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lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog.zst")))
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# check initData and sentinel
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self._check_init_data(lr)
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self._check_sentinel(lr, True)
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# check all messages were logged and in order
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lr = lr[2:-1] # slice off initData and both sentinels
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for m in lr:
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sent = sent_msgs[m.which()].pop(0)
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sent.clear_write_flag()
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assert sent.to_bytes() == m.as_builder().to_bytes()
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def test_preserving_bookmarked_segments(self):
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services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userBookmark"}
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self._publish_random_messages(services)
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segment_dir = self._get_latest_log_dir()
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assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
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def test_not_preserving_nonbookmarked_segments(self):
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services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"}
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self._publish_random_messages(services)
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segment_dir = self._get_latest_log_dir()
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assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
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@pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
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@pytest.mark.parametrize("record_front", [True, False])
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def test_record_front(self, record_front):
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params = Params()
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params.put_bool("RecordFront", record_front)
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self._publish_camera_and_audio_messages()
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dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
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assert dcamera_hevc_exists == record_front
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@pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
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@pytest.mark.parametrize("record_audio", [True, False])
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def test_record_audio(self, record_audio):
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params = Params()
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params.put_bool("RecordAudio", record_audio)
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self._publish_camera_and_audio_messages()
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qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts')
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ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error"
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has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b''
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assert has_audio_stream == record_audio
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raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst')))
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assert raw_audio_in_rlog == record_audio
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