Kacper Rączy
a48b67f720
* replay_process_with_fake_sockets implementation * add missing polled_pubs to configs * drained_pubs field * updated cereal * Remove python/native variations of process replay. Replace with universal one using cereal fake sockets * Replace old py FakeSocket with DummySocket * Invalidate and deregister fake sockets after replay is done * Remove unused import * Set up new prefix for each replay * Fixes for radard * Refactor ReplayContext and ProcessConfig * Minor fixes * Reimplement controlsd fingerprinting callback * time.sleep for sockets to safely reconnect * Fix fingerprinting for controlsd * Fixes for regen to work * Fix replay loop to respect submaster frames * Fix profiler to use new ProcessConfig fields * Remove tqdm * Refactor tests to use new ProcessConfig * Add FrequencyBasedRcvCallback * Make tolerance None by default * Update cereal * Add get_process_config utility func * Update cereal. Simplify sync procedure * Chain context managers * New sub-socket reconnection procedure * Fix linter issues * Revert chaining of context managers * Init controlsState only when replaying controlsd. Update cereal * Update cereal * Update process_replay to use new cereal API * Update cereal * Update cereal * Update cereal * Simplify radard recv callback * Update release/files_common old-commit-hash: e6ac6320ace377657446a1a16ccccd75091f5453
Process replay
Process replay is a regression test designed to identify any changes in the output of a process. This test replays a segment through individual processes and compares the output to a known good replay. Each make is represented in the test with a segment.
If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
Use test_processes.py to run the test locally.
Use FILEREADER_CACHE='1' test_processes.py to cache log files.
Currently the following processes are tested:
- controlsd
- radard
- plannerd
- calibrationd
- dmonitoringd
- locationd
- laikad
- paramsd
- ubloxd
Usage
Usage: test_processes.py [-h] [--whitelist-procs PROCS] [--whitelist-cars CARS] [--blacklist-procs PROCS]
[--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] [--upload-only]
Regression test to identify changes in a process's output
optional arguments:
-h, --help show this help message and exit
--whitelist-procs PROCS Whitelist given processes from the test (e.g. controlsd)
--whitelist-cars WHITELIST_CARS Whitelist given cars from the test (e.g. HONDA)
--blacklist-procs BLACKLIST_PROCS Blacklist given processes from the test (e.g. controlsd)
--blacklist-cars BLACKLIST_CARS Blacklist given cars from the test (e.g. HONDA)
--ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. carState.events)
--ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. carEvents)
--update-refs Updates reference logs using current commit
--upload-only Skips testing processes and uploads logs from previous test run
Forks
openpilot forks can use this test with their own reference logs, by default test_proccess.py saves logs locally.
To generate new logs:
./test_processes.py
Then, check in the new logs using git-lfs. Make sure to also update the ref_commit file to the current commit.