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.
150 lines
5.0 KiB
150 lines
5.0 KiB
import math
|
|
import os
|
|
import pytest
|
|
import random
|
|
import shutil
|
|
import subprocess
|
|
import time
|
|
from pathlib import Path
|
|
|
|
from parameterized import parameterized
|
|
from tqdm import trange
|
|
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.timeout import Timeout
|
|
from openpilot.system.hardware import TICI
|
|
from openpilot.system.manager.process_config import managed_processes
|
|
from openpilot.tools.lib.logreader import LogReader
|
|
from openpilot.system.hardware.hw import Paths
|
|
|
|
SEGMENT_LENGTH = 2
|
|
FULL_SIZE = 2507572
|
|
CAMERAS = [
|
|
("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
|
|
("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"),
|
|
("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"),
|
|
("qcamera.ts", 20, 130000, None),
|
|
]
|
|
|
|
# we check frame count, so we don't have to be too strict on size
|
|
FILE_SIZE_TOLERANCE = 0.7
|
|
|
|
|
|
@pytest.mark.tici # TODO: all of loggerd should work on PC
|
|
class TestEncoder:
|
|
|
|
def setup_method(self):
|
|
self._clear_logs()
|
|
os.environ["LOGGERD_TEST"] = "1"
|
|
os.environ["LOGGERD_SEGMENT_LENGTH"] = str(SEGMENT_LENGTH)
|
|
|
|
def teardown_method(self):
|
|
self._clear_logs()
|
|
|
|
def _clear_logs(self):
|
|
if os.path.exists(Paths.log_root()):
|
|
shutil.rmtree(Paths.log_root())
|
|
|
|
def _get_latest_segment_path(self):
|
|
last_route = sorted(Path(Paths.log_root()).iterdir())[-1]
|
|
return os.path.join(Paths.log_root(), last_route)
|
|
|
|
# TODO: this should run faster than real time
|
|
@parameterized.expand([(True, ), (False, )])
|
|
def test_log_rotation(self, record_front):
|
|
Params().put_bool("RecordFront", record_front)
|
|
|
|
managed_processes['sensord'].start()
|
|
managed_processes['loggerd'].start()
|
|
managed_processes['encoderd'].start()
|
|
|
|
time.sleep(1.0)
|
|
managed_processes['camerad'].start()
|
|
|
|
num_segments = int(os.getenv("SEGMENTS", random.randint(2, 8)))
|
|
|
|
# wait for loggerd to make the dir for first segment
|
|
route_prefix_path = None
|
|
with Timeout(int(SEGMENT_LENGTH*3)):
|
|
while route_prefix_path is None:
|
|
try:
|
|
route_prefix_path = self._get_latest_segment_path().rsplit("--", 1)[0]
|
|
except Exception:
|
|
time.sleep(0.1)
|
|
|
|
def check_seg(i):
|
|
# check each camera file size
|
|
counts = []
|
|
first_frames = []
|
|
for camera, fps, size, encode_idx_name in CAMERAS:
|
|
if not record_front and "dcamera" in camera:
|
|
continue
|
|
|
|
file_path = f"{route_prefix_path}--{i}/{camera}"
|
|
|
|
# check file exists
|
|
assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing"
|
|
|
|
# TODO: this ffprobe call is really slow
|
|
# check frame count
|
|
cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
|
|
if TICI:
|
|
cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
|
|
|
|
expected_frames = fps * SEGMENT_LENGTH
|
|
probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
|
|
frame_count = int(probe.split('\n')[0].strip())
|
|
counts.append(frame_count)
|
|
|
|
assert frame_count == expected_frames, \
|
|
f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}"
|
|
|
|
# sanity check file size
|
|
file_size = os.path.getsize(file_path)
|
|
assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \
|
|
f"{file_path} size {file_size} isn't close to target size {size}"
|
|
|
|
# Check encodeIdx
|
|
if encode_idx_name is not None:
|
|
rlog_path = f"{route_prefix_path}--{i}/rlog"
|
|
msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name]
|
|
encode_msgs = [getattr(m, encode_idx_name) for m in msgs]
|
|
|
|
valid = [m.valid for m in msgs]
|
|
segment_idxs = [m.segmentId for m in encode_msgs]
|
|
encode_idxs = [m.encodeId for m in encode_msgs]
|
|
frame_idxs = [m.frameId for m in encode_msgs]
|
|
|
|
# Check frame count
|
|
assert frame_count == len(segment_idxs)
|
|
assert frame_count == len(encode_idxs)
|
|
|
|
# Check for duplicates or skips
|
|
assert 0 == segment_idxs[0]
|
|
assert len(set(segment_idxs)) == len(segment_idxs)
|
|
|
|
assert all(valid)
|
|
|
|
assert expected_frames * i == encode_idxs[0]
|
|
first_frames.append(frame_idxs[0])
|
|
assert len(set(encode_idxs)) == len(encode_idxs)
|
|
|
|
assert 1 == len(set(first_frames))
|
|
|
|
if TICI:
|
|
expected_frames = fps * SEGMENT_LENGTH
|
|
assert min(counts) == expected_frames
|
|
shutil.rmtree(f"{route_prefix_path}--{i}")
|
|
|
|
try:
|
|
for i in trange(num_segments):
|
|
# poll for next segment
|
|
with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"):
|
|
while Path(f"{route_prefix_path}--{i+1}") not in Path(Paths.log_root()).iterdir():
|
|
time.sleep(0.1)
|
|
check_seg(i)
|
|
finally:
|
|
managed_processes['loggerd'].stop()
|
|
managed_processes['encoderd'].stop()
|
|
managed_processes['camerad'].stop()
|
|
managed_processes['sensord'].stop()
|
|
|