mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-08-03 08:41:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

replay: add test case for local route (#23650)

Browse Source 
* add test for local route

* retry download on network error

* sleep 500ms before retry

* read 100 frames

* read more segments from route

* add REQUIRE
This commit is contained in:
Dean Lee
2022-01-29 04:02:29 +08:00
committed by GitHub
parent 2f91441382
commit 520c99a050
1 changed files with 56 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/replay/tests/test_replay.cc
+56 -14
View File
@@ -1,3 +1,6 @@
#include <chrono>
#include <thread>
#include <QDebug>
#include <QEventLoop>
@@ -10,6 +13,16 @@ const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";
bool donload_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
do {
if (httpDownload(url, local_file, chunk_size)) {
return true;
}
std::this_thread::sleep_for(std::chrono::milliseconds(500));
} while (--retries >= 0);
return false;
}
TEST_CASE("httpMultiPartDownload") {
char filename[] = "/tmp/XXXXXX";
close(mkstemp(filename));
@@ -17,16 +30,13 @@ TEST_CASE("httpMultiPartDownload") {
const size_t chunk_size = 5 * 1024 * 1024;
std::string content;
SECTION("download to file") {
bool ret = false;
for (int i = 0; i < 3 && !ret; ++i) {
ret = httpDownload(TEST_RLOG_URL, filename, chunk_size);
}
REQUIRE(ret);
REQUIRE(donload_to_file(TEST_RLOG_URL, filename, chunk_size));
content = util::read_file(filename);
}
SECTION("download to buffer") {
for (int i = 0; i < 3 && content.empty(); ++i) {
content = httpGet(TEST_RLOG_URL, chunk_size);
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
REQUIRE(!content.empty());
}
@@ -67,14 +77,9 @@ TEST_CASE("LogReader") {
}
}
TEST_CASE("Segment") {
auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
Route demo_route(DEMO_ROUTE);
REQUIRE(demo_route.load());
REQUIRE(demo_route.segments().size() == 11);
void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
QEventLoop loop;
Segment segment(0, demo_route.at(0), flags);
Segment segment(n, segment_file, flags);
QObject::connect(&segment, &Segment::loadFinished, [&]() {
REQUIRE(segment.isLoaded() == true);
REQUIRE(segment.log != nullptr);
@@ -99,8 +104,8 @@ TEST_CASE("Segment") {
}
std::unique_ptr<uint8_t[]> rgb_buf = std::make_unique<uint8_t[]>(fr->getRGBSize());
std::unique_ptr<uint8_t[]> yuv_buf = std::make_unique<uint8_t[]>(fr->getYUVSize());
// sequence get 50 frames
for (int i = 0; i < 50; ++i) {
// sequence get 100 frames
for (int i = 0; i < 100; ++i) {
REQUIRE(fr->get(i, rgb_buf.get(), yuv_buf.get()));
}
}
@@ -110,6 +115,43 @@ TEST_CASE("Segment") {
loop.exec();
}
TEST_CASE("Route") {
// Create a local route from remote for testing
Route remote_route(DEMO_ROUTE);
REQUIRE(remote_route.load());
char tmp_path[] = "/tmp/root_XXXXXX";
const std::string data_dir = mkdtemp(tmp_path);
const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
for (int i = 0; i < 2; ++i) {
std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
util::create_directories(log_path, 0755);
REQUIRE(donload_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
REQUIRE(donload_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
REQUIRE(donload_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
REQUIRE(donload_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
REQUIRE(donload_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
}
SECTION("Local route") {
auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
REQUIRE(route.load());
REQUIRE(route.segments().size() == 2);
for (int i = 0; i < route.segments().size(); ++i) {
read_segment(i, route.at(i), flags);
}
};
SECTION("Remote route") {
auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
Route route(DEMO_ROUTE);
REQUIRE(route.load());
REQUIRE(route.segments().size() == 11);
for (int i = 0; i < 2; ++i) {
read_segment(i, route.at(i), flags);
}
};
}
// helper class for unit tests
class TestReplay : public Replay {
public: