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
# 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)
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 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":
for msg in log_msgs:
if msg.which() == "carParams":
if msg.carParams.notCar:
break
if msg.which() == "controlsState":
if msg.controlsState.active:
break
else:
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 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, 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 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=[], ignore_msgs=[]):
if not os.path.isfile(cmp_log_fn):
assert False, ("Failed to open %s" % cmp_log_fn)
else:
print("Opening file [%s]" % cmp_log_fn)
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 test_process(cfg, lr, ref_log_fn, ignore_fields=None, ignore_msgs=None):
if ignore_fields is None:
ignore_fields = []
if ignore_msgs is None:
ignore_msgs = []
ref_log_path = ref_log_fn if os.path.exists(
ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
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):
segment = ref_log_fn.split("/")[-1].split("_")[0]
raise Exception(f"Route never enabled: {segment}")
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(dat, name):
cfg = get_process_config(name)
lr = convert_to_lr(dat)
pr.TIMEOUT = 0.1
return pr.replay_process(cfg, lr, TOYOTA.COROLLA_TSS2)
no_upload = "--no-upload" in sys.argv
process_replay_dir = os.path.dirname(os.path.abspath(__file__))
ref_commit_fn = os.path.join(process_replay_dir, "ref_commit")
ref_commit = get_git_commit()
with open(ref_commit_fn, "w") as f:
f.write(ref_commit)
for car_brand, segment in segments:
rlog_fn = get_segment(segment)
if rlog_fn is None:
print("failed to get segment %s" % segment)
sys.exit(1)
lr = LogReader(rlog_fn)
for cfg in CONFIGS:
log_msgs = replay_process(cfg, lr)
log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
save_log(log_fn, log_msgs)
if not no_upload:
upload_file(log_fn, os.path.basename(log_fn))
os.remove(log_fn)
os.remove(rlog_fn)
print("done")
import argparse
from selfdrive.test.process_replay.compare_logs import save_log
from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
from tools.lib.logreader import MultiLogIterator
from tools.lib.route import Route
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description="Run process on route and create new logs",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("route", help="The route name to use")
parser.add_argument("process", help="The process to run")
args = parser.parse_args()
cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
route = Route(args.route)
lr = MultiLogIterator(route.log_paths())
inputs = list(lr)
outputs = replay_process(cfg, inputs)
# Remove message generated by the process under test and merge in the new messages
produces = {o.which() for o in outputs}
inputs = [i for i in inputs if i.which() not in produces]
outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
fn = f"{args.route}_{args.process}.bz2"
save_log(fn, outputs)
