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240 lines
11 KiB
240 lines
11 KiB
#!/usr/bin/env python3
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import argparse
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import concurrent.futures
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import os
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import sys
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from collections import defaultdict
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from tqdm import tqdm
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from typing import Any
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from opendbc.car.car_helpers import interface_names
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from openpilot.common.git import get_commit
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from openpilot.tools.lib.openpilotci import get_url, upload_file
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from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
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from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
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check_most_messages_valid
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from openpilot.tools.lib.filereader import FileReader
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from openpilot.tools.lib.logreader import LogReader, save_log
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source_segments = [
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("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.COMMA_BODY
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("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.HYUNDAI_SONATA
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("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
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("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS
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("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.TOYOTA_RAV4
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("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"), # TOYOTA.TOYOTA_COROLLA_TSS2
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("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.HONDA_CIVIC (NIDEC)
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("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.HONDA_ACCORD (BOSCH)
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("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
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("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN
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("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.SUBARU_OUTBACK
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("GM", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV
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("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL
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("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF
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# FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced
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("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021
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("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1
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("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), # RIVIAN.RIVIAN_R1_GEN1
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("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"), # TESLA.TESLA_MODEL_Y
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# Enable when port is tested and dashcamOnly is no longer set
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#("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
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]
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segments = [
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("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
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("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
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("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
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("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
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("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
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("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
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("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
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("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),
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("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"),
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("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"),
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("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"),
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("GM", "regen1271097D038|2025-04-09--03-26-00--0"),
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("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"),
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("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"),
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("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
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("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
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("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
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("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),
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]
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# dashcamOnly makes don't need to be tested until a full port is done
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excluded_interfaces = ["mock", "tesla"]
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BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
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REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
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EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
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def run_test_process(data):
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segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
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res = None
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if not args.upload_only:
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lr = LogReader.from_bytes(lr_dat)
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res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
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# save logs so we can upload when updating refs
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save_log(cur_log_fn, log_msgs)
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if args.update_refs or args.upload_only:
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print(f'Uploading: {os.path.basename(cur_log_fn)}')
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assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
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upload_file(cur_log_fn, os.path.basename(cur_log_fn))
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os.remove(cur_log_fn)
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return (segment, cfg.proc_name, res)
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def get_log_data(segment):
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r, n = segment.rsplit("--", 1)
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with FileReader(get_url(r, n, "rlog.zst")) as f:
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return (segment, f.read())
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def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
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if ignore_fields is None:
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ignore_fields = []
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if ignore_msgs is None:
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ignore_msgs = []
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ref_log_msgs = list(LogReader(ref_log_path))
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try:
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log_msgs = replay_process(cfg, lr, disable_progress=True)
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except Exception as e:
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raise Exception("failed on segment: " + segment) from e
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if not check_most_messages_valid(log_msgs):
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return f"Route did not have enough valid messages: {new_log_path}", log_msgs
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# skip this check if the segment is using qcom gps
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if cfg.proc_name != 'ubloxd' or any(m.which() in cfg.pubs for m in lr):
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seen_msgs = {m.which() for m in log_msgs}
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expected_msgs = set(cfg.subs)
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if seen_msgs != expected_msgs:
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return f"Expected messages: {expected_msgs}, but got: {seen_msgs}", log_msgs
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try:
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return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
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except Exception as e:
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return str(e), log_msgs
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if __name__ == "__main__":
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all_cars = {car for car, _ in segments}
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all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
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cpu_count = os.cpu_count() or 1
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parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
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parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs,
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help="Whitelist given processes from the test (e.g. controlsd)")
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parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars,
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help="Whitelist given cars from the test (e.g. HONDA)")
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parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[],
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help="Blacklist given processes from the test (e.g. controlsd)")
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parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
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help="Blacklist given cars from the test (e.g. HONDA)")
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parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
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help="Extra fields or msgs to ignore (e.g. driverMonitoringState.events)")
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parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
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help="Msgs to ignore (e.g. carEvents)")
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parser.add_argument("--update-refs", action="store_true",
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help="Updates reference logs using current commit")
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parser.add_argument("--upload-only", action="store_true",
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help="Skips testing processes and uploads logs from previous test run")
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parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1),
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help="Max amount of parallel jobs")
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args = parser.parse_args()
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tested_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
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tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars)
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tested_cars = {c.upper() for c in tested_cars}
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full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs))
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upload = args.update_refs or args.upload_only
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os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
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if upload:
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assert full_test, "Need to run full test when updating refs"
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try:
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with open(REF_COMMIT_FN) as f:
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ref_commit = f.read().strip()
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except FileNotFoundError:
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print("Couldn't find reference commit")
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sys.exit(1)
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cur_commit = get_commit()
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if not cur_commit:
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raise Exception("Couldn't get current commit")
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print(f"***** testing against commit {ref_commit} *****")
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# check to make sure all car brands are tested
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if full_test:
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untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars}
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assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
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log_paths: defaultdict[str, dict[str, dict[str, str]]] = defaultdict(lambda: defaultdict(dict))
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with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
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if not args.upload_only:
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download_segments = [seg for car, seg in segments if car in tested_cars]
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log_data: dict[str, LogReader] = {}
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p1 = pool.map(get_log_data, download_segments)
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for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
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log_data[segment] = lr
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pool_args: Any = []
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for car_brand, segment in segments:
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if car_brand not in tested_cars:
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continue
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for cfg in CONFIGS:
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if cfg.proc_name not in tested_procs:
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continue
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# to speed things up, we only test all segments on card
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if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'):
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continue
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cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
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if args.update_refs: # reference logs will not exist if routes were just regenerated
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ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")
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else:
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ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
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ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
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dat = None if args.upload_only else log_data[segment]
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pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
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log_paths[segment][cfg.proc_name]['ref'] = ref_log_path
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log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
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results: Any = defaultdict(dict)
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p2 = pool.map(run_test_process, pool_args)
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for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
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if not args.upload_only:
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results[segment][proc] = result
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diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
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if not upload:
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with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
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f.write(diff_long)
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print(diff_short)
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if failed:
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print("TEST FAILED")
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print("\n\nTo push the new reference logs for this commit run:")
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print("./test_processes.py --upload-only")
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else:
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print("TEST SUCCEEDED")
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else:
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with open(REF_COMMIT_FN, "w") as f:
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f.write(cur_commit)
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print(f"\n\nUpdated reference logs for commit: {cur_commit}")
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sys.exit(int(failed))
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