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