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.
178 lines
6.8 KiB
178 lines
6.8 KiB
#!/usr/bin/env python3
|
|
import argparse
|
|
import os
|
|
import requests
|
|
import sys
|
|
import tempfile
|
|
|
|
from selfdrive.car.car_helpers import interface_names
|
|
from selfdrive.test.process_replay.process_replay import replay_process, CONFIGS
|
|
from selfdrive.test.process_replay.compare_logs import compare_logs
|
|
from tools.lib.logreader import LogReader
|
|
|
|
|
|
INJECT_MODEL = 0
|
|
|
|
segments = [
|
|
("HONDA", "0375fdf7b1ce594d|2019-06-13--08-32-25--3"), # HONDA.ACCORD
|
|
("HONDA", "99c94dc769b5d96e|2019-08-03--14-19-59--2"), # HONDA.CIVIC
|
|
("TOYOTA", "77611a1fac303767|2020-02-29--13-29-33--3"), # TOYOTA.COROLLA_TSS2
|
|
("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"), # GM.ACADIA
|
|
("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"), # CHRYSLER.PACIFICA
|
|
("HYUNDAI", "38bfd238edecbcd7|2018-08-29--22-02-15--4"), # HYUNDAI.SANTA_FE
|
|
#("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"), # CHRYSLER.JEEP_CHEROKEE
|
|
("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"), # SUBARU.IMPREZA
|
|
("VOLKSWAGEN", "b0c9d2329ad1606b|2020-02-19--16-29-36--7"), # VW.GOLF
|
|
]
|
|
|
|
# ford doesn't need to be tested until a full port is done
|
|
excluded_interfaces = ["mock", "ford"]
|
|
|
|
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
|
|
|
# run the full test (including checks) when no args given
|
|
FULL_TEST = len(sys.argv) <= 1
|
|
|
|
def get_segment(segment_name, original=True):
|
|
route_name, segment_num = segment_name.rsplit("--", 1)
|
|
if original:
|
|
rlog_url = BASE_URL + "%s/%s/rlog.bz2" % (route_name.replace("|", "/"), segment_num)
|
|
else:
|
|
process_replay_dir = os.path.dirname(os.path.abspath(__file__))
|
|
model_ref_commit = open(os.path.join(process_replay_dir, "model_ref_commit")).read().strip()
|
|
rlog_url = BASE_URL + "%s/%s/rlog_%s.bz2" % (route_name.replace("|", "/"), segment_num, model_ref_commit)
|
|
req = requests.get(rlog_url)
|
|
assert req.status_code == 200, ("Failed to download log for %s" % segment_name)
|
|
|
|
with tempfile.NamedTemporaryFile(delete=False, suffix=".bz2") as f:
|
|
f.write(req.content)
|
|
return f.name
|
|
|
|
def test_process(cfg, lr, cmp_log_fn, ignore_fields=[], ignore_msgs=[]):
|
|
if not os.path.isfile(cmp_log_fn):
|
|
req = requests.get(BASE_URL + os.path.basename(cmp_log_fn))
|
|
assert req.status_code == 200, ("Failed to download %s" % cmp_log_fn)
|
|
|
|
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(cmp_log_fn))
|
|
|
|
log_msgs = replay_process(cfg, lr)
|
|
|
|
# check to make sure openpilot is engaged in the route
|
|
# TODO: update routes so enable check can run
|
|
# failed enable check: honda bosch, hyundai, chrysler, and subaru
|
|
if cfg.proc_name == "controlsd" and FULL_TEST and False:
|
|
for msg in log_msgs:
|
|
if msg.which() == "controlsState":
|
|
if msg.controlsState.active:
|
|
break
|
|
else:
|
|
segment = cmp_log_fn.split("/")[-1].split("_")[0]
|
|
raise Exception("Route never enabled: %s" % segment)
|
|
|
|
return compare_logs(cmp_log_msgs, log_msgs, ignore_fields+cfg.ignore, ignore_msgs)
|
|
|
|
def format_diff(results, ref_commit):
|
|
diff1, diff2 = "", ""
|
|
diff2 += "***** tested against commit %s *****\n" % ref_commit
|
|
|
|
failed = False
|
|
for segment, result in list(results.items()):
|
|
diff1 += "***** results for segment %s *****\n" % segment
|
|
diff2 += "***** differences for segment %s *****\n" % segment
|
|
|
|
for proc, diff in list(result.items()):
|
|
diff1 += "\t%s\n" % proc
|
|
diff2 += "*** process: %s ***\n" % proc
|
|
|
|
if isinstance(diff, str):
|
|
diff1 += "\t\t%s\n" % diff
|
|
failed = True
|
|
elif len(diff):
|
|
cnt = {}
|
|
for d in diff:
|
|
diff2 += "\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()):
|
|
diff1 += "\t\t%s: %s\n" % (k, v)
|
|
failed = True
|
|
return diff1, diff2, failed
|
|
|
|
if __name__ == "__main__":
|
|
|
|
parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
|
|
|
|
# whitelist has precedence over blacklist in case both are defined
|
|
parser.add_argument("--whitelist-procs", type=str, nargs="*", default=[],
|
|
help="Whitelist given processes from the test (e.g. controlsd)")
|
|
parser.add_argument("--whitelist-cars", type=str, nargs="*", default=[],
|
|
help="Whitelist given cars from the test (e.g. HONDA)")
|
|
parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[],
|
|
help="Blacklist given processes from the test (e.g. controlsd)")
|
|
parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
|
|
help="Blacklist given cars from the test (e.g. HONDA)")
|
|
parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
|
|
help="Extra fields or msgs to ignore (e.g. carState.events)")
|
|
parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
|
|
help="Msgs to ignore (e.g. carEvents)")
|
|
args = parser.parse_args()
|
|
|
|
cars_whitelisted = len(args.whitelist_cars) > 0
|
|
procs_whitelisted = len(args.whitelist_procs) > 0
|
|
|
|
process_replay_dir = os.path.dirname(os.path.abspath(__file__))
|
|
try:
|
|
ref_commit = open(os.path.join(process_replay_dir, "ref_commit")).read().strip()
|
|
except:
|
|
print("couldn't find reference commit")
|
|
sys.exit(1)
|
|
|
|
print("***** testing against commit %s *****" % ref_commit)
|
|
|
|
# check to make sure all car brands are tested
|
|
if FULL_TEST:
|
|
tested_cars = set(c.lower() for c, _ in segments)
|
|
untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
|
|
assert len(untested) == 0, "Cars missing routes: %s" % (str(untested))
|
|
|
|
results = {}
|
|
for car_brand, segment in segments:
|
|
if (cars_whitelisted and car_brand.upper() not in args.whitelist_cars) or \
|
|
(not cars_whitelisted and car_brand.upper() in args.blacklist_cars):
|
|
continue
|
|
|
|
print("***** testing route segment %s *****\n" % segment)
|
|
|
|
results[segment] = {}
|
|
|
|
rlog_fn = get_segment(segment)
|
|
lr = LogReader(rlog_fn)
|
|
|
|
for cfg in CONFIGS:
|
|
if (procs_whitelisted and cfg.proc_name not in args.whitelist_procs) or \
|
|
(not procs_whitelisted and cfg.proc_name in args.blacklist_procs):
|
|
continue
|
|
|
|
cmp_log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
|
|
results[segment][cfg.proc_name] = test_process(cfg, lr, cmp_log_fn, args.ignore_fields, args.ignore_msgs)
|
|
os.remove(rlog_fn)
|
|
|
|
diff1, diff2, failed = format_diff(results, ref_commit)
|
|
with open(os.path.join(process_replay_dir, "diff.txt"), "w") as f:
|
|
f.write(diff2)
|
|
print(diff1)
|
|
|
|
print("TEST", "FAILED" if failed else "SUCCEEDED")
|
|
|
|
print("\n\nTo update the reference logs for this test run:")
|
|
print("./update_refs.py")
|
|
|
|
sys.exit(int(failed))
|
|
|