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124 lines
4.0 KiB
124 lines
4.0 KiB
#!/usr/bin/env python3
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import math
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import os
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import random
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import shutil
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import subprocess
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import time
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import unittest
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from parameterized import parameterized
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from pathlib import Path
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from tqdm import trange
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from common.params import Params
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from common.timeout import Timeout
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from selfdrive.hardware import EON, TICI
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from selfdrive.test.helpers import with_processes
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from selfdrive.loggerd.config import ROOT, CAMERA_FPS
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# baseline file sizes for a 2s segment, in bytes
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FULL_SIZE = 1253786
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if EON:
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CAMERAS = {
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"fcamera": FULL_SIZE,
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"dcamera": 770920,
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"qcamera": 38533,
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}
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elif TICI:
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CAMERAS = {f"{c}camera": FULL_SIZE if c!="q" else 38533 for c in ["f", "e", "d", "q"]}
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else:
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CAMERAS = {}
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ALL_CAMERA_COMBINATIONS = [(cameras,) for cameras in [CAMERAS, {k:CAMERAS[k] for k in CAMERAS if k!='dcamera'}]]
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FRAME_TOLERANCE = 0
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FILE_SIZE_TOLERANCE = 0.5
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class TestLoggerd(unittest.TestCase):
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# TODO: all of loggerd should work on PC
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@classmethod
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def setUpClass(cls):
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if not (EON or TICI):
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raise unittest.SkipTest
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def setUp(self):
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self._clear_logs()
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self.segment_length = 2
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os.environ["LOGGERD_TEST"] = "1"
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os.environ["LOGGERD_SEGMENT_LENGTH"] = str(self.segment_length)
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def tearDown(self):
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self._clear_logs()
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def _clear_logs(self):
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if os.path.exists(ROOT):
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shutil.rmtree(ROOT)
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def _get_latest_segment_path(self):
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last_route = sorted(Path(ROOT).iterdir(), key=os.path.getmtime)[-1]
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return os.path.join(ROOT, last_route)
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# TODO: this should run faster than real time
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@parameterized.expand(ALL_CAMERA_COMBINATIONS)
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@with_processes(['camerad', 'sensord', 'loggerd'], init_time=5)
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def test_log_rotation(self, cameras):
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print("checking targets:", cameras)
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Params().put("RecordFront", "1" if 'dcamera' in cameras else "0")
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num_segments = random.randint(80, 150)
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if "CI" in os.environ:
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num_segments = random.randint(15, 20) # ffprobe is slow on comma two
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# wait for loggerd to make the dir for first segment
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time.sleep(10)
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route_prefix_path = None
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with Timeout(30):
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while route_prefix_path is None:
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try:
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route_prefix_path = self._get_latest_segment_path().rsplit("--", 1)[0]
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except Exception:
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time.sleep(2)
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continue
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for i in trange(num_segments):
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# poll for next segment
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if i < num_segments - 1:
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with Timeout(self.segment_length*3, error_msg=f"timed out waiting for segment {i}"):
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while True:
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seg_num = int(self._get_latest_segment_path().rsplit("--", 1)[1])
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if seg_num > i:
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break
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time.sleep(0.1)
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else:
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time.sleep(self.segment_length)
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# check each camera file size
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for camera, size in cameras.items():
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ext = "ts" if camera=='qcamera' else "hevc"
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file_path = f"{route_prefix_path}--{i}/{camera}.{ext}"
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# check file size
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self.assertTrue(os.path.exists(file_path), f"couldn't find {file_path}")
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file_size = os.path.getsize(file_path)
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self.assertTrue(math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE),
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f"{camera} failed size check: expected {size}, got {file_size}")
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if camera == 'qcamera':
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continue
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# check frame count
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cmd = f"ffprobe -v error -count_frames -select_streams v:0 -show_entries stream=nb_read_frames \
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-of default=nokey=1:noprint_wrappers=1 {file_path}"
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expected_frames = self.segment_length * CAMERA_FPS // 2 if (EON and camera=='dcamera') else self.segment_length * CAMERA_FPS
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frame_tolerance = FRAME_TOLERANCE+1 if (EON and camera=='dcamera') or i==0 else FRAME_TOLERANCE
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frame_count = int(subprocess.check_output(cmd, shell=True, encoding='utf8').strip())
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self.assertTrue(abs(expected_frames - frame_count) <= frame_tolerance,
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f"{camera} failed frame count check: expected {expected_frames}, got {frame_count}")
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shutil.rmtree(f"{route_prefix_path}--{i}")
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if __name__ == "__main__":
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unittest.main()
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