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95 lines
2.6 KiB
95 lines
2.6 KiB
#!/usr/bin/env python3
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import sys
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import math
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import capnp
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import numbers
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import dictdiffer
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from collections import Counter
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from openpilot.tools.lib.logreader import LogReader
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EPSILON = sys.float_info.epsilon
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def remove_ignored_fields(msg, ignore):
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msg = msg.as_builder()
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for key in ignore:
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attr = msg
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keys = key.split(".")
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if msg.which() != keys[0] and len(keys) > 1:
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continue
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for k in keys[:-1]:
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# indexing into list
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if k.isdigit():
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attr = attr[int(k)]
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else:
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attr = getattr(attr, k)
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v = getattr(attr, keys[-1])
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if isinstance(v, bool):
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val = False
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elif isinstance(v, numbers.Number):
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val = 0
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elif isinstance(v, (list, capnp.lib.capnp._DynamicListBuilder)):
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val = []
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else:
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raise NotImplementedError(f"Unknown type: {type(v)}")
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setattr(attr, keys[-1], val)
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return msg
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def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=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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tolerance = EPSILON if tolerance is None else tolerance
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log1, log2 = (
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[m for m in log if m.which() not in ignore_msgs]
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for log in (log1, log2)
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)
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if len(log1) != len(log2):
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cnt1 = Counter(m.which() for m in log1)
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cnt2 = Counter(m.which() for m in log2)
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raise Exception(f"logs are not same length: {len(log1)} VS {len(log2)}\n\t\t{cnt1}\n\t\t{cnt2}")
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diff = []
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for msg1, msg2 in zip(log1, log2, strict=True):
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if msg1.which() != msg2.which():
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raise Exception("msgs not aligned between logs")
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msg1 = remove_ignored_fields(msg1, ignore_fields)
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msg2 = remove_ignored_fields(msg2, ignore_fields)
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if msg1.to_bytes() != msg2.to_bytes():
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msg1_dict = msg1.as_reader().to_dict(verbose=True)
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msg2_dict = msg2.as_reader().to_dict(verbose=True)
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dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
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# Dictdiffer only supports relative tolerance, we also want to check for absolute
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# TODO: add this to dictdiffer
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def outside_tolerance(diff):
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try:
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if diff[0] == "change":
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a, b = diff[2]
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finite = math.isfinite(a) and math.isfinite(b)
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if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number):
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return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b)))
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except TypeError:
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pass
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return True
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dd = list(filter(outside_tolerance, dd))
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diff.extend(dd)
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return diff
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if __name__ == "__main__":
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log1 = list(LogReader(sys.argv[1]))
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log2 = list(LogReader(sys.argv[2]))
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print(compare_logs(log1, log2, sys.argv[3:]))
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