def test_process(cfg,
lr,
ref_log_path,
new_log_path,
ignore_fields=None,
ignore_msgs=None):
if ignore_fields is None:
ignore_fields = []
if ignore_msgs is None:
ignore_msgs = []
ref_log_msgs = list(LogReader(ref_log_path))
log_msgs = replay_process(cfg, lr)
# check to make sure openpilot is engaged in the route
if cfg.proc_name == "controlsd":
if not check_enabled(log_msgs):
return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
try:
return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore,
ignore_msgs, cfg.tolerance,
cfg.field_tolerances), log_msgs
except Exception as e:
return str(e), log_msgs
def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
if ignore_fields is None:
ignore_fields = []
if ignore_msgs is None:
ignore_msgs = []
ref_log_msgs = list(LogReader(ref_log_path))
log_msgs = replay_process(cfg, lr)
# check to make sure openpilot is engaged in the route
if cfg.proc_name == "controlsd":
if not check_enabled(log_msgs):
raise Exception(f"Route never enabled: {ref_log_path}")
try:
return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
except Exception as e:
return str(e), log_msgs
def test_process(cfg, lr, cmp_log_fn, ignore_fields=None, ignore_msgs=None):
if ignore_fields is None:
ignore_fields = []
if ignore_msgs is None:
ignore_msgs = []
cmp_log_path = cmp_log_fn if os.path.exists(cmp_log_fn) else BASE_URL + os.path.basename(cmp_log_fn)
cmp_log_msgs = list(LogReader(cmp_log_path))
log_msgs = replay_process(cfg, lr)
# check to make sure openpilot is engaged in the route
if cfg.proc_name == "controlsd":
if not check_enabled(log_msgs):
segment = cmp_log_fn.split("/")[-1].split("_")[0]
raise Exception(f"Route never enabled: {segment}")
try:
return compare_logs(cmp_log_msgs, log_msgs, ignore_fields+cfg.ignore, ignore_msgs, cfg.tolerance)
except Exception as e:
return str(e)
def regen_segment(lr, frs=None, outdir=FAKEDATA):
lr = list(lr)
if frs is None:
frs = dict()
setup_env()
params = Params()
os.environ["LOG_ROOT"] = outdir
os.environ['SKIP_FW_QUERY'] = ""
os.environ['FINGERPRINT'] = ""
# TODO: remove after getting new route for mazda
migration = {
"Mazda CX-9 2021": "MAZDA CX-9 2021",
}
for msg in lr:
if msg.which() == 'carParams':
car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS):
params.put("CarParamsCache", msg.carParams.as_builder().to_bytes())
else:
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = car_fingerprint
elif msg.which() == 'liveCalibration':
params.put("CalibrationParams", msg.as_builder().to_bytes())
vs, cam_procs = replay_cameras(lr, frs)
fake_daemons = {
'sensord': [
multiprocessing.Process(target=replay_sensor_events, args=('sensorEvents', lr)),
],
'pandad': [
multiprocessing.Process(target=replay_service, args=('can', lr)),
multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)),
multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)),
],
'managerState': [
multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)),
],
'thermald': [
multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)),
],
'camerad': [
*cam_procs,
],
}
try:
# start procs up
ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader']
ensure_running(managed_processes.values(), started=True, not_run=ignore)
for procs in fake_daemons.values():
for p in procs:
p.start()
for _ in tqdm(range(60)):
# ensure all procs are running
for d, procs in fake_daemons.items():
for p in procs:
if not p.is_alive():
raise Exception(f"{d}'s {p.name} died")
time.sleep(1)
finally:
# kill everything
for p in managed_processes.values():
p.stop()
for procs in fake_daemons.values():
for p in procs:
p.terminate()
del vs
segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
seg_path = os.path.join(outdir, segment)
# check to make sure openpilot is engaged in the route
if not check_enabled(LogReader(os.path.join(seg_path, "rlog.bz2"))):
raise Exception(f"Route never enabled: {segment}")
return seg_path
def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
lr = list(lr)
if frs is None:
frs = dict()
params = Params()
os.environ["LOG_ROOT"] = outdir
for msg in lr:
if msg.which() == 'carParams':
setup_env(CP=msg.carParams)
elif msg.which() == 'liveCalibration':
params.put("CalibrationParams", msg.as_builder().to_bytes())
vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm)
fake_daemons = {
'sensord': [
multiprocessing.Process(target=replay_sensor_events,
args=('sensorEvents', lr)),
],
'pandad': [
multiprocessing.Process(target=replay_service, args=('can', lr)),
multiprocessing.Process(target=replay_service,
args=('ubloxRaw', lr)),
multiprocessing.Process(target=replay_panda_states,
args=('pandaStates', lr)),
],
'managerState': [
multiprocessing.Process(target=replay_manager_state,
args=('managerState', lr)),
],
'thermald': [
multiprocessing.Process(target=replay_device_state,
args=('deviceState', lr)),
],
'camerad': [
*cam_procs,
],
}
try:
# TODO: make first run of onnxruntime CUDA provider fast
managed_processes["modeld"].start()
managed_processes["dmonitoringmodeld"].start()
time.sleep(5)
# start procs up
ignore = list(fake_daemons.keys()) + [
'ui', 'manage_athenad', 'uploader', 'soundd'
]
ensure_running(managed_processes.values(),
started=True,
params=Params(),
CP=car.CarParams(),
not_run=ignore)
for procs in fake_daemons.values():
for p in procs:
p.start()
for _ in tqdm(range(60), disable=disable_tqdm):
# ensure all procs are running
for d, procs in fake_daemons.items():
for p in procs:
if not p.is_alive():
raise Exception(f"{d}'s {p.name} died")
time.sleep(1)
finally:
# kill everything
for p in managed_processes.values():
p.stop()
for procs in fake_daemons.values():
for p in procs:
p.terminate()
del vs
segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
seg_path = os.path.join(outdir, segment)
# check to make sure openpilot is engaged in the route
if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
raise Exception(f"Route never enabled: {segment}")
return seg_path