183 lines
6.9 KiB
Python
Executable File
183 lines
6.9 KiB
Python
Executable File
#!/usr/bin/env python3
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import argparse
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import os
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import sys
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from typing import Any
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from selfdrive.car.car_helpers import interface_names
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from selfdrive.test.process_replay.compare_logs import compare_logs
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from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
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from tools.lib.logreader import LogReader
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INJECT_MODEL = 0
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segments = [
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("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
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("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
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("TOYOTA", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
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("HONDA", "0982d79ebb0de295|2021-01-08--10-13-10--6"), # HONDA.CIVIC (NIDEC)
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("HONDA", "a8e8bf6a3864361b|2021-01-04--03-01-18--2"), # HONDA.ACCORD (BOSCH)
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("CHRYSLER", "52d86230ee29aa84|2021-01-10--17-16-34--30"), # CHRYSLER.PACIFICA
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# TODO: update this route
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("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"), # GM.ACADIA
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("SUBARU", "c321c6b697c5a5ff|2020-06-23--11-04-33--12"), # SUBARU.FORESTER
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("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"), # VW.GOLF
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("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"), # NISSAN.XTRAIL
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# Enable when port is tested and dascamOnly is no longer set
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#("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"), # MAZDA.CX5
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]
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# ford doesn't need to be tested until a full port is done
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excluded_interfaces = ["mock", "ford", "mazda"]
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BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
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# run the full test (including checks) when no args given
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FULL_TEST = len(sys.argv) <= 1
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def get_segment(segment_name, original=True):
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route_name, segment_num = segment_name.rsplit("--", 1)
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if original:
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rlog_url = BASE_URL + "%s/%s/rlog.bz2" % (route_name.replace("|", "/"), segment_num)
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else:
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process_replay_dir = os.path.dirname(os.path.abspath(__file__))
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model_ref_commit = open(os.path.join(process_replay_dir, "model_ref_commit")).read().strip()
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rlog_url = BASE_URL + "%s/%s/rlog_%s.bz2" % (route_name.replace("|", "/"), segment_num, model_ref_commit)
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return rlog_url
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def test_process(cfg, lr, cmp_log_fn, ignore_fields=None, ignore_msgs=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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url = BASE_URL + os.path.basename(cmp_log_fn)
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cmp_log_msgs = list(LogReader(url))
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log_msgs = replay_process(cfg, lr)
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# check to make sure openpilot is engaged in the route
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# TODO: update routes so enable check can run
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# failed enable check: honda bosch, hyundai, chrysler, and subaru
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if cfg.proc_name == "controlsd" and FULL_TEST and False:
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for msg in log_msgs:
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if msg.which() == "controlsState":
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if msg.controlsState.active:
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break
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else:
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segment = cmp_log_fn.split("/")[-1].split("_")[0]
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raise Exception("Route never enabled: %s" % segment)
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try:
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return compare_logs(cmp_log_msgs, log_msgs, ignore_fields+cfg.ignore, ignore_msgs, cfg.tolerance)
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except Exception as e:
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return str(e)
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def format_diff(results, ref_commit):
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diff1, diff2 = "", ""
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diff2 += "***** tested against commit %s *****\n" % ref_commit
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failed = False
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for segment, result in list(results.items()):
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diff1 += "***** results for segment %s *****\n" % segment
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diff2 += "***** differences for segment %s *****\n" % segment
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for proc, diff in list(result.items()):
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diff1 += "\t%s\n" % proc
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diff2 += "*** process: %s ***\n" % proc
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if isinstance(diff, str):
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diff1 += "\t\t%s\n" % diff
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failed = True
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elif len(diff):
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cnt = {}
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for d in diff:
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diff2 += "\t%s\n" % str(d)
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k = str(d[1])
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cnt[k] = 1 if k not in cnt else cnt[k] + 1
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for k, v in sorted(cnt.items()):
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diff1 += "\t\t%s: %s\n" % (k, v)
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failed = True
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return diff1, diff2, failed
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
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# whitelist has precedence over blacklist in case both are defined
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parser.add_argument("--whitelist-procs", type=str, nargs="*", default=[],
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help="Whitelist given processes from the test (e.g. controlsd)")
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parser.add_argument("--whitelist-cars", type=str, nargs="*", default=[],
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help="Whitelist given cars from the test (e.g. HONDA)")
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parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[],
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help="Blacklist given processes from the test (e.g. controlsd)")
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parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
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help="Blacklist given cars from the test (e.g. HONDA)")
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parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
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help="Extra fields or msgs to ignore (e.g. carState.events)")
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parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
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help="Msgs to ignore (e.g. carEvents)")
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args = parser.parse_args()
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cars_whitelisted = len(args.whitelist_cars) > 0
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procs_whitelisted = len(args.whitelist_procs) > 0
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process_replay_dir = os.path.dirname(os.path.abspath(__file__))
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try:
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ref_commit = open(os.path.join(process_replay_dir, "ref_commit")).read().strip()
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except FileNotFoundError:
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print("couldn't find reference commit")
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sys.exit(1)
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print("***** testing against commit %s *****" % ref_commit)
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# check to make sure all car brands are tested
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if FULL_TEST:
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tested_cars = set(c.lower() for c, _ in segments)
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untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
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assert len(untested) == 0, "Cars missing routes: %s" % (str(untested))
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results: Any = {}
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for car_brand, segment in segments:
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if (cars_whitelisted and car_brand.upper() not in args.whitelist_cars) or \
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(not cars_whitelisted and car_brand.upper() in args.blacklist_cars):
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continue
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print("***** testing route segment %s *****\n" % segment)
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results[segment] = {}
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rlog_fn = get_segment(segment)
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lr = LogReader(rlog_fn)
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for cfg in CONFIGS:
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if (procs_whitelisted and cfg.proc_name not in args.whitelist_procs) or \
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(not procs_whitelisted and cfg.proc_name in args.blacklist_procs):
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continue
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# TODO remove this hack
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if cfg.proc_name == 'plannerd' and car_brand in ["GM", "SUBARU", "VOLKSWAGEN", "NISSAN"]:
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continue
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cmp_log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
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results[segment][cfg.proc_name] = test_process(cfg, lr, cmp_log_fn, args.ignore_fields, args.ignore_msgs)
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diff1, diff2, failed = format_diff(results, ref_commit)
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with open(os.path.join(process_replay_dir, "diff.txt"), "w") as f:
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f.write(diff2)
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print(diff1)
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if failed:
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print("TEST FAILED")
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print("\n\nTo update the reference logs for this test run:")
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print("./update_refs.py")
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else:
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print("TEST SUCCEEDED")
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sys.exit(int(failed))
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