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process replay: ensure enabled for significant amount of time (#25121)

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* process replay: ensure enabled for significant amount of time

* update refs

* 10s is reasonable
old-commit-hash: 2ae52e9b2218c23d4c80b36fb0b50387b6ecdd8f
This commit is contained in:
Adeeb Shihadeh
2022-07-11 17:20:56 -07:00
committed by GitHub
parent 77a6b2d0cd
commit f3ddb32649
4 changed files with 20 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+2 -1
View File
@@ -406,7 +406,8 @@ class Controls:
if not self.initialized:
all_valid = CS.canValid and self.sm.all_checks()
if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
if all_valid or timed_out or SIMULATION:
if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
self.initialized = True
selfdrive/test/process_replay/process_replay.py
+9 -2
View File
@@ -14,6 +14,7 @@ from cereal import car, log
from cereal.services import service_list
from common.params import Params
from common.timeout import Timeout
from common.realtime import DT_CTRL
from panda.python import ALTERNATIVE_EXPERIENCE
from selfdrive.car.car_helpers import get_car, interfaces
from selfdrive.test.process_replay.helpers import OpenpilotPrefix
@@ -548,11 +549,17 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
def check_enabled(msgs):
cur_enabled_count = 0
max_enabled_count = 0
for msg in msgs:
if msg.which() == "carParams":
if msg.carParams.notCar:
return True
elif msg.which() == "controlsState":
if msg.controlsState.active:
return True
return False
cur_enabled_count += 1
else:
cur_enabled_count = 0
max_enabled_count = max(max_enabled_count, cur_enabled_count)
return max_enabled_count > int(10. / DT_CTRL)
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
d583bbd9643000e7f817171c583d31ae3141a652
998b457e0d38e3639814ed81cb2d32e92d9bed8c
selfdrive/test/process_replay/test_processes.py
+8 -8
View File
@@ -18,14 +18,14 @@ from tools.lib.logreader import LogReader
original_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--1"), # HYUNDAI.KIA_EV6
("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"), # HYUNDAI.KIA_EV6
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2
("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC)
("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH)
("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA
("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"), # CHRYSLER.RAM_1500
("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"), # CHRYSLER.RAM_1500
("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"), # SUBARU.IMPREZA
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL
@@ -39,13 +39,14 @@ original_segments = [
segments = [
("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"),
("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),
("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"),
("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
@@ -65,7 +66,7 @@ def run_test_process(data):
res = None
if not args.upload_only:
lr = LogReader.from_bytes(lr_dat)
res, log_msgs = test_process(cfg, lr, ref_log_path, args.ignore_fields, args.ignore_msgs)
res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
# save logs so we can upload when updating refs
save_log(cur_log_fn, log_msgs)
@@ -83,7 +84,7 @@ def get_log_data(segment):
return (segment, f.read())
def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
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:
@@ -96,7 +97,7 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
# 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}")
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), log_msgs
@@ -216,8 +217,7 @@ if __name__ == "__main__":
results: Any = defaultdict(dict)
p2 = pool.map(run_test_process, pool_args)
for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
if isinstance(result, list):
results[segment][proc + subtest_name] = result
results[segment][proc + subtest_name] = result
diff1, diff2, failed = format_diff(results, ref_commit)
if not upload: