openpilot v0.11.1 release

date: 2026-06-04T09:49:56
master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e

system/loggerd/tests/loggerd_tests_common.py

@@ -0,0 +1,90 @@
+import os
+import random
+from pathlib import Path
+
+
+import openpilot.system.loggerd.deleter as deleter
+import openpilot.system.loggerd.uploader as uploader
+from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.xattr_cache import setxattr
+
+
+def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None:
+  file_path.parent.mkdir(parents=True, exist_ok=True)
+
+  if lock:
+    lock_path = str(file_path) + ".lock"
+    os.close(os.open(lock_path, os.O_CREAT | os.O_EXCL))
+
+  chunks = 128
+  chunk_bytes = int(size_mb * 1024 * 1024 / chunks)
+  data = os.urandom(chunk_bytes)
+
+  with open(file_path, "wb") as f:
+    for _ in range(chunks):
+      f.write(data)
+
+  if upload_xattr is not None:
+    setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr)
+
+class MockResponse:
+  def __init__(self, text, status_code):
+    self.text = text
+    self.status_code = status_code
+
+class MockApi:
+  def __init__(self, dongle_id):
+    pass
+
+  def get(self, *args, **kwargs):
+    return MockResponse('{"url": "http://localhost/does/not/exist", "headers": {}}', 200)
+
+  def get_token(self):
+    return "fake-token"
+
+class MockApiIgnore:
+  def __init__(self, dongle_id):
+    pass
+
+  def get(self, *args, **kwargs):
+    return MockResponse('', 412)
+
+  def get_token(self):
+    return "fake-token"
+
+class UploaderTestCase:
+  f_type = "UNKNOWN"
+
+  root: Path
+  seg_num: int
+  seg_format: str
+  seg_format2: str
+  seg_dir: str
+
+  def set_ignore(self):
+    uploader.Api = MockApiIgnore
+
+  def setup_method(self):
+    uploader.Api = MockApi
+    uploader.fake_upload = True
+    uploader.force_wifi = True
+    uploader.allow_sleep = False
+    self.seg_num = random.randint(1, 300)
+    self.seg_format = "00000004--0ac3964c96--{}"
+    self.seg_format2 = "00000005--4c4e99b08b--{}"
+    self.seg_dir = self.seg_format.format(self.seg_num)
+
+    self.params = Params()
+    self.params.put("IsOffroad", True, block=True)
+    self.params.put("DongleId", "0000000000000000", block=True)
+
+  def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
+                          upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
+    file_path = Path(Paths.log_root()) / f_dir / fn
+    create_random_file(file_path, size_mb, lock, upload_xattr)
+
+    if preserve_xattr is not None:
+      setxattr(str(file_path.parent), deleter.PRESERVE_ATTR_NAME, preserve_xattr)
+
+    return file_path

system/loggerd/tests/test_deleter.py

@@ -0,0 +1,117 @@
+import time
+import threading
+from collections import namedtuple
+from pathlib import Path
+from collections.abc import Sequence
+
+import openpilot.system.loggerd.deleter as deleter
+from openpilot.common.timeout import Timeout, TimeoutException
+from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
+
+Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
+
+
+class TestDeleter(UploaderTestCase):
+  def fake_statvfs(self, d):
+    return self.fake_stats
+
+  def setup_method(self):
+    self.f_type = "fcamera.hevc"
+    super().setup_method()
+    self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
+    deleter.os.statvfs = self.fake_statvfs
+
+  def start_thread(self):
+    self.end_event = threading.Event()
+    self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event])
+    self.del_thread.daemon = True
+    self.del_thread.start()
+
+  def join_thread(self):
+    self.end_event.set()
+    self.del_thread.join()
+
+  def test_delete(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1)
+
+    self.start_thread()
+
+    try:
+      with Timeout(2, "Timeout waiting for file to be deleted"):
+        while f_path.exists():
+          time.sleep(0.01)
+    finally:
+      self.join_thread()
+
+  def assertDeleteOrder(self, f_paths: Sequence[Path], timeout: int = 5) -> None:
+    deleted_order = []
+
+    self.start_thread()
+    try:
+      with Timeout(timeout, "Timeout waiting for files to be deleted"):
+        while True:
+          for f in f_paths:
+            if not f.exists() and f not in deleted_order:
+              deleted_order.append(f)
+          if len(deleted_order) == len(f_paths):
+            break
+          time.sleep(0.01)
+    except TimeoutException:
+      print("Not deleted:", [f for f in f_paths if f not in deleted_order])
+      raise
+    finally:
+      self.join_thread()
+
+    assert deleted_order == f_paths, "Files not deleted in expected order"
+
+  def test_delete_order(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(1), self.f_type),
+      self.make_file_with_data(self.seg_format2.format(0), self.f_type),
+    ])
+
+  def test_delete_many_preserved(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(1), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE),
+      self.make_file_with_data(self.seg_format.format(2), self.f_type),
+    ] + [
+      self.make_file_with_data(self.seg_format2.format(i), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE)
+      for i in range(5)
+    ])
+
+  def test_delete_last(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(1), self.f_type),
+      self.make_file_with_data(self.seg_format2.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(0), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE),
+      self.make_file_with_data("boot", self.seg_format[:-4]),
+      self.make_file_with_data("crash", self.seg_format2[:-4]),
+    ])
+
+  def test_no_delete_when_available_space(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type)
+
+    block_size = 4096
+    available = (10 * 1024 * 1024 * 1024) / block_size  # 10GB free
+    self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size)
+
+    self.start_thread()
+    start_time = time.monotonic()
+    while f_path.exists() and time.monotonic() - start_time < 2:
+      time.sleep(0.01)
+    self.join_thread()
+
+    assert f_path.exists(), "File deleted with available space"
+
+  def test_no_delete_with_lock_file(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True)
+
+    self.start_thread()
+    start_time = time.monotonic()
+    while f_path.exists() and time.monotonic() - start_time < 2:
+      time.sleep(0.01)
+    self.join_thread()
+
+    assert f_path.exists(), "File deleted when locked"

system/loggerd/tests/test_encoder.py

@@ -0,0 +1,152 @@
+import math
+import os
+import pytest
+import random
+import shutil
+import subprocess
+import time
+from pathlib import Path
+
+from openpilot.common.parameterized import parameterized
+from tqdm import trange
+
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.system.hardware import TICI
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware.hw import Paths
+
+SEGMENT_LENGTH = 2
+FULL_SIZE = 2507572
+def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE
+CAMERAS = [
+  ("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"),
+  ("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"),
+  ("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"),
+  ("qcamera.ts", 20, lambda x: 130000, None),
+]
+
+# we check frame count, so we don't have to be too strict on size
+FILE_SIZE_TOLERANCE = 0.7
+
+
+@pytest.mark.tici # TODO: all of loggerd should work on PC
+class TestEncoder:
+
+  def setup_method(self):
+    self._clear_logs()
+    os.environ["LOGGERD_TEST"] = "1"
+    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(SEGMENT_LENGTH)
+
+  def teardown_method(self):
+    self._clear_logs()
+
+  def _clear_logs(self):
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_root())
+
+  def _get_latest_segment_path(self):
+    last_route = sorted(Path(Paths.log_root()).iterdir())[-1]
+    return os.path.join(Paths.log_root(), last_route)
+
+  # TODO: this should run faster than real time
+  @parameterized.expand([(True, ), (False, )])
+  def test_log_rotation(self, record_front):
+    Params().put_bool("RecordFront", record_front, block=True)
+
+    managed_processes['sensord'].start()
+    managed_processes['loggerd'].start()
+    managed_processes['encoderd'].start()
+
+    time.sleep(1.0)
+    managed_processes['camerad'].start()
+
+    num_segments = int(os.getenv("SEGMENTS", random.randint(2, 8)))
+
+    # wait for loggerd to make the dir for first segment
+    route_prefix_path = None
+    with Timeout(int(SEGMENT_LENGTH*3)):
+      while route_prefix_path is None:
+        try:
+          route_prefix_path = self._get_latest_segment_path().rsplit("--", 1)[0]
+        except Exception:
+          time.sleep(0.1)
+
+    def check_seg(i):
+      # check each camera file size
+      counts = []
+      first_frames = []
+      for camera, fps, size_lambda, encode_idx_name in CAMERAS:
+        if not record_front and "dcamera" in camera:
+          continue
+
+        file_path = f"{route_prefix_path}--{i}/{camera}"
+
+        # check file exists
+        assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing"
+
+        # TODO: this ffprobe call is really slow
+        # get width and check frame count
+        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}"
+        if TICI:
+          cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
+
+        expected_frames = fps * SEGMENT_LENGTH
+        probe = subprocess.check_output(cmd, shell=True, encoding='utf8').split('\n')[0].strip().split(',')
+        frame_width, frame_count = int(probe[0]), int(probe[1])
+        counts.append(frame_count)
+
+        assert frame_count == expected_frames, \
+                         f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}"
+
+        # sanity check file size
+        file_size = os.path.getsize(file_path)
+        target_size = size_lambda(frame_width)
+        assert math.isclose(file_size, target_size, rel_tol=FILE_SIZE_TOLERANCE), \
+                        f"{file_path} size {file_size} isn't close to target size {target_size}"
+
+        # Check encodeIdx
+        if encode_idx_name is not None:
+          rlog_path = f"{route_prefix_path}--{i}/rlog.zst"
+          msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name]
+          encode_msgs = [getattr(m, encode_idx_name) for m in msgs]
+
+          valid = [m.valid for m in msgs]
+          segment_idxs = [m.segmentId for m in encode_msgs]
+          encode_idxs = [m.encodeId for m in encode_msgs]
+          frame_idxs = [m.frameId for m in encode_msgs]
+
+          # Check frame count
+          assert frame_count == len(segment_idxs)
+          assert frame_count == len(encode_idxs)
+
+          # Check for duplicates or skips
+          assert 0 == segment_idxs[0]
+          assert len(set(segment_idxs)) == len(segment_idxs)
+
+          assert all(valid)
+
+          assert expected_frames * i == encode_idxs[0]
+          first_frames.append(frame_idxs[0])
+          assert len(set(encode_idxs)) == len(encode_idxs)
+
+      assert 1 == len(set(first_frames))
+
+      if TICI:
+        expected_frames = fps * SEGMENT_LENGTH
+        assert min(counts) == expected_frames
+      shutil.rmtree(f"{route_prefix_path}--{i}")
+
+    try:
+      for i in trange(num_segments):
+        # poll for next segment
+        with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"):
+          while Path(f"{route_prefix_path}--{i+1}") not in Path(Paths.log_root()).iterdir():
+            time.sleep(0.1)
+        check_seg(i)
+    finally:
+      managed_processes['loggerd'].stop()
+      managed_processes['encoderd'].stop()
+      managed_processes['camerad'].stop()
+      managed_processes['sensord'].stop()

system/loggerd/tests/test_logger.cc

@@ -0,0 +1,75 @@
+#include "catch2/catch.hpp"
+#include "system/loggerd/logger.h"
+
+typedef cereal::Sentinel::SentinelType SentinelType;
+
+void verify_segment(const std::string &route_path, int segment, int max_segment, int required_event_cnt) {
+  const std::string segment_path = route_path + "--" + std::to_string(segment);
+  SentinelType begin_sentinel = segment == 0 ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT;
+  SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT;
+
+  REQUIRE(!util::file_exists(segment_path + "/rlog.lock"));
+  for (const char *fn : {"/rlog.zst", "/qlog.zst"}) {
+    const std::string log_file = segment_path + fn;
+    std::string log = util::read_file(log_file);
+    REQUIRE(!log.empty());
+    std::string decompressed_log = zstd_decompress(log);
+    int event_cnt = 0, i = 0;
+    kj::ArrayPtr<const capnp::word> words((capnp::word *)decompressed_log.data(), decompressed_log.size() / sizeof(capnp::word));
+    while (words.size() > 0) {
+      try {
+        capnp::FlatArrayMessageReader reader(words);
+        auto event = reader.getRoot<cereal::Event>();
+        words = kj::arrayPtr(reader.getEnd(), words.end());
+        if (i == 0) {
+          REQUIRE(event.which() == cereal::Event::INIT_DATA);
+        } else if (i == 1) {
+          REQUIRE(event.which() == cereal::Event::SENTINEL);
+          REQUIRE(event.getSentinel().getType() == begin_sentinel);
+          REQUIRE(event.getSentinel().getSignal() == 0);
+        } else if (words.size() > 0) {
+          REQUIRE(event.which() == cereal::Event::CLOCKS);
+          ++event_cnt;
+        } else {
+          // the last event must be SENTINEL
+          REQUIRE(event.which() == cereal::Event::SENTINEL);
+          REQUIRE(event.getSentinel().getType() == end_sentinel);
+          REQUIRE(event.getSentinel().getSignal() == (end_sentinel == SentinelType::END_OF_ROUTE ? 1 : 0));
+        }
+        ++i;
+      } catch (const kj::Exception &ex) {
+        INFO("failed parse " << i << " exception :" << ex.getDescription());
+        REQUIRE(0);
+        break;
+      }
+    }
+    REQUIRE(event_cnt == required_event_cnt);
+  }
+}
+
+void write_msg(LoggerState *logger) {
+  MessageBuilder msg;
+  msg.initEvent().initClocks();
+  logger->write(msg.toBytes(), true);
+}
+
+TEST_CASE("logger") {
+  const int segment_cnt = 100;
+  const std::string log_root = "/tmp/test_logger";
+  REQUIRE(system(("rm " + log_root + " -rf").c_str()) == 0);
+  std::string route_name;
+  {
+    LoggerState logger(log_root);
+    route_name = logger.routeName();
+    for (int i = 0; i < segment_cnt; ++i) {
+      REQUIRE(logger.next());
+      REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock"));
+      REQUIRE(logger.segment() == i);
+      write_msg(&logger);
+    }
+    logger.setExitSignal(1);
+  }
+  for (int i = 0; i < segment_cnt; ++i) {
+    verify_segment(log_root + "/" + route_name, i, segment_cnt, 1);
+  }
+}

system/loggerd/tests/test_loggerd.py

@@ -0,0 +1,339 @@
+import numpy as np
+import os
+import re
+import random
+import string
+import subprocess
+import time
+from collections import defaultdict
+from pathlib import Path
+import pytest
+
+import cereal.messaging as messaging
+from cereal import log
+from cereal.services import SERVICE_LIST
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware import TICI
+from openpilot.system.loggerd.xattr_cache import getxattr
+from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.system.version import get_version
+from openpilot.tools.lib.helpers import RE
+from openpilot.tools.lib.logreader import LogReader
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+
+SentinelType = log.Sentinel.SentinelType
+
+CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
+                   and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
+
+
+class TestLoggerd:
+  def _get_latest_log_dir(self):
+    log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
+    return log_dirs[-1]
+
+  def _get_log_dir(self, x):
+    for l in x.splitlines():
+      for p in l.split(' '):
+        path = Path(p.strip())
+        if path.is_dir():
+          return path
+    return None
+
+  def _get_log_fn(self, x):
+    for l in x.splitlines():
+      for p in l.split(' '):
+        path = Path(p.strip())
+        if path.is_file():
+          return path
+    return None
+
+  def _gen_bootlog(self):
+    with Timeout(5):
+      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')
+
+    log_fn = self._get_log_fn(out)
+
+    # check existence
+    assert log_fn is not None
+
+    return log_fn
+
+  def _check_init_data(self, msgs):
+    msg = msgs[0]
+    assert msg.which() == 'initData'
+
+  def _check_sentinel(self, msgs, route):
+    start_type = SentinelType.startOfRoute if route else SentinelType.startOfSegment
+    assert msgs[1].sentinel.type == start_type
+
+    end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
+    assert msgs[-1].sentinel.type == end_type
+
+  def _publish_random_messages(self, services: list[str]) -> dict[str, list]:
+    pm = messaging.PubMaster(services)
+
+    managed_processes["loggerd"].start()
+    for s in services:
+      assert pm.wait_for_readers_to_update(s, timeout=5)
+
+    sent_msgs = defaultdict(list)
+    for i in range(random.randint(2, 10) * 100):
+      for s in services:
+        try:
+          m = messaging.new_message(s)
+        except Exception:
+          m = messaging.new_message(s, random.randint(2, 10))
+        pm.send(s, m)
+        sent_msgs[s].append(m)
+
+      # Keep msgq's finite per-service queues from wrapping; this test asserts
+      # that loggerd logged every message we sent.
+      if (i + 1) % 100 == 0:
+        for s in services:
+          assert pm.wait_for_readers_to_update(s, timeout=5)
+
+    for s in services:
+      assert pm.wait_for_readers_to_update(s, timeout=5)
+    managed_processes["loggerd"].stop()
+
+    return sent_msgs
+
+  def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
+    # Use small frame sizes for testing (width, height, size, stride, uv_offset)
+    # NV12 format: size = stride * height * 1.5, uv_offset = stride * height
+    w, h = 320, 240
+    frame_spec = (w, h, w * h * 3 // 2, w, w * h)
+    streams = [
+      (VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"),
+      (VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"),
+      (VisionStreamType.VISION_STREAM_WIDE_ROAD, frame_spec, "wideRoadCameraState"),
+    ]
+
+    sm = messaging.SubMaster(["roadEncodeData"])
+    pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
+    vipc_server = VisionIpcServer("camerad")
+    for stream_type, frame_spec, _ in streams:
+      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
+    vipc_server.start_listener()
+
+    os.environ["LOGGERD_TEST"] = "1"
+    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length)
+    managed_processes["loggerd"].start()
+    managed_processes["encoderd"].start()
+    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
+
+    fps = 20
+    for n in range(1, int(num_segs * segment_length * fps) + 1):
+      # send video
+      for stream_type, frame_spec, state in streams:
+        dat = np.empty(frame_spec[2], dtype=np.uint8)
+        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps)
+
+        camera_state = messaging.new_message(state)
+        frame = getattr(camera_state, state)
+        frame.frameId = n
+        pm.send(state, camera_state)
+
+      # send audio
+      msg = messaging.new_message('rawAudioData')
+      msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16
+      msg.rawAudioData.sampleRate = 16000
+      pm.send('rawAudioData', msg)
+
+      for _, _, state in streams:
+        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
+
+      sm.update(100)  # wait for encode data publish
+
+    managed_processes["loggerd"].stop()
+    managed_processes["encoderd"].stop()
+
+  def test_init_data_values(self):
+    os.environ["CLEAN"] = random.choice(["0", "1"])
+
+    dongle  = ''.join(random.choice(string.printable) for n in range(random.randint(1, 100)))
+    fake_params = [
+      # param, initData field, value
+      ("DongleId", "dongleId", dongle),
+      ("GitCommit", "gitCommit", "commit"),
+      ("GitCommitDate", "gitCommitDate", "date"),
+      ("GitBranch", "gitBranch", "branch"),
+      ("GitRemote", "gitRemote", "remote"),
+    ]
+    params = Params()
+    for k, _, v in fake_params:
+      params.put(k, v, block=True)
+    params.put("AccessToken", "abc", block=True)
+
+    lr = list(LogReader(str(self._gen_bootlog())))
+    initData = lr[0].initData
+
+    assert initData.dirty != bool(os.environ["CLEAN"])
+    assert initData.version == get_version()
+
+    if os.path.isfile("/proc/cmdline"):
+      with open("/proc/cmdline") as f:
+        assert list(initData.kernelArgs) == f.read().strip().split(" ")
+
+      with open("/proc/version") as f:
+        assert initData.kernelVersion == f.read()
+
+    # check params
+    logged_params = {entry.key: entry.value for entry in initData.params.entries}
+    expected_params = {k for k, _, __ in fake_params} | {'AccessToken', 'BootCount'}
+    assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params
+    assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}"
+    for param_key, initData_key, v in fake_params:
+      assert getattr(initData, initData_key) == v
+      assert logged_params[param_key].decode() == v
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  def test_rotation(self):
+    Params().put("RecordFront", True, block=True)
+
+    expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
+
+    num_segs = random.randint(2, 3)
+    length = random.randint(4, 5) # H264 encoder uses 40 lookahead frames and does B-frame reordering, so minimum 3 seconds before qcam output
+
+    self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length)
+
+    route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
+    for n in range(num_segs):
+      p = Path(f"{route_path}--{n}")
+      logged = {f.name for f in p.iterdir() if f.is_file()}
+      diff = logged ^ expected_files
+      assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
+
+  def test_bootlog(self):
+    # generate bootlog with fake launch log
+    launch_log = ''.join(str(random.choice(string.printable)) for _ in range(100))
+    with open("/tmp/launch_log", "w") as f:
+      f.write(launch_log)
+
+    bootlog_path = self._gen_bootlog()
+    lr = list(LogReader(str(bootlog_path)))
+
+    # check length
+    assert len(lr) == 2  # boot + initData
+
+    self._check_init_data(lr)
+
+    # check msgs
+    bootlog_msgs = [m for m in lr if m.which() == 'boot']
+    assert len(bootlog_msgs) == 1
+
+    # sanity check values
+    boot = bootlog_msgs.pop().boot
+    assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
+    assert boot.launchLog == launch_log
+
+    if TICI:
+      for fn in ["console-ramoops", "pmsg-ramoops-0"]:
+        path = Path(os.path.join("/sys/fs/pstore/", fn))
+        if path.is_file():
+          with open(path, "rb") as f:
+            expected_val = f.read()
+          bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
+          assert expected_val == bootlog_val
+    else:
+      assert len(boot.pstore.entries) == 0
+
+    # next one should increment by one
+    bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
+    bl2 = re.match(RE.LOG_ID_V2, self._gen_bootlog().name)
+    assert bl1.group('uid') != bl2.group('uid')
+    assert int(bl1.group('count')) == 0 and int(bl2.group('count')) == 1
+
+  def test_qlog(self):
+    qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None]
+    no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None]
+
+    services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
+               random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
+    sent_msgs = self._publish_random_messages(services)
+
+    qlog_path = os.path.join(self._get_latest_log_dir(), "qlog.zst")
+    lr = list(LogReader(qlog_path))
+
+    # check initData and sentinel
+    self._check_init_data(lr)
+    self._check_sentinel(lr, True)
+
+    recv_msgs = defaultdict(list)
+    for m in lr:
+      recv_msgs[m.which()].append(m)
+
+    for s, msgs in sent_msgs.items():
+      recv_cnt = len(recv_msgs[s])
+
+      if s in no_qlog_services:
+        # check services with no specific decimation aren't in qlog
+        assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog"
+      else:
+        # check logged message count matches decimation
+        expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
+        assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}"
+
+  def test_rlog(self):
+    services = random.sample(CEREAL_SERVICES, random.randint(5, 10))
+    sent_msgs = self._publish_random_messages(services)
+
+    lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog.zst")))
+
+    # check initData and sentinel
+    self._check_init_data(lr)
+    self._check_sentinel(lr, True)
+
+    # check all messages were logged and in order
+    lr = lr[2:-1] # slice off initData and both sentinels
+    for m in lr:
+      sent = sent_msgs[m.which()].pop(0)
+      sent.clear_write_flag()
+      assert sent.to_bytes() == m.as_builder().to_bytes()
+
+  def test_preserving_bookmarked_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userBookmark"}
+    self._publish_random_messages(services)
+
+    segment_dir = self._get_latest_log_dir()
+    assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
+
+  def test_not_preserving_nonbookmarked_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"}
+    self._publish_random_messages(services)
+
+    segment_dir = self._get_latest_log_dir()
+    assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  @pytest.mark.parametrize("record_front", [True, False])
+  def test_record_front(self, record_front):
+    params = Params()
+    params.put_bool("RecordFront", record_front, block=True)
+
+    self._publish_camera_and_audio_messages()
+
+    dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
+    assert dcamera_hevc_exists == record_front
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  @pytest.mark.parametrize("record_audio", [True, False])
+  def test_record_audio(self, record_audio):
+    params = Params()
+    params.put_bool("RecordAudio", record_audio, block=True)
+
+    self._publish_camera_and_audio_messages()
+
+    qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts')
+    ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error"
+    has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b''
+    assert has_audio_stream == record_audio
+
+    raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst')))
+    assert raw_audio_in_rlog == record_audio

system/loggerd/tests/test_runner.cc

@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"

system/loggerd/tests/test_uploader.py

@@ -0,0 +1,184 @@
+import os
+import time
+import threading
+import logging
+import json
+from pathlib import Path
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
+
+from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
+
+
+class FakeLogHandler(logging.Handler):
+  def __init__(self):
+    logging.Handler.__init__(self)
+    self.reset()
+
+  def reset(self):
+    self.upload_order = list()
+    self.upload_ignored = list()
+
+  def emit(self, record):
+    try:
+      j = json.loads(record.getMessage())
+      if j["event"] == "upload_success":
+        self.upload_order.append(j["key"])
+      if j["event"] == "upload_ignored":
+        self.upload_ignored.append(j["key"])
+    except Exception:
+      pass
+
+log_handler = FakeLogHandler()
+cloudlog.addHandler(log_handler)
+
+
+class TestUploader(UploaderTestCase):
+  def setup_method(self):
+    super().setup_method()
+    log_handler.reset()
+
+  def start_thread(self):
+    self.end_event = threading.Event()
+    self.up_thread = threading.Thread(target=main, args=[self.end_event])
+    self.up_thread.daemon = True
+    self.up_thread.start()
+
+  def join_thread(self):
+    self.end_event.set()
+    self.up_thread.join()
+
+  def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]:
+    f_paths = []
+    for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
+      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))
+
+    if boot:
+      f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, upload_xattr=xattr))
+    return f_paths
+
+  def gen_order(self, seg1: list[int], seg2: list[int], boot=True) -> list[str]:
+    keys = []
+    if boot:
+      keys += [f"boot/{self.seg_format.format(i)}.zst" for i in seg1]
+      keys += [f"boot/{self.seg_format2.format(i)}.zst" for i in seg2]
+    keys += [f"{self.seg_format.format(i)}/qlog.zst" for i in seg1]
+    keys += [f"{self.seg_format2.format(i)}/qlog.zst" for i in seg2]
+    return keys
+
+  def test_upload(self):
+    self.gen_files(lock=False)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(1)
+    self.join_thread()
+
+    exp_order = self.gen_order([self.seg_num], [])
+
+    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
+    assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
+    assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
+    for f_path in exp_order:
+      assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded"
+
+    assert log_handler.upload_order == exp_order, "Files uploaded in wrong order"
+
+  def test_upload_with_wrong_xattr(self):
+    self.gen_files(lock=False, xattr=b'0')
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(1)
+    self.join_thread()
+
+    exp_order = self.gen_order([self.seg_num], [])
+
+    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
+    assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
+    assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
+    for f_path in exp_order:
+      assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded"
+
+    assert log_handler.upload_order == exp_order, "Files uploaded in wrong order"
+
+  def test_upload_ignored(self):
+    self.set_ignore()
+    self.gen_files(lock=False)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(1)
+    self.join_thread()
+
+    exp_order = self.gen_order([self.seg_num], [])
+
+    assert len(log_handler.upload_order) == 0, "Some files were not ignored"
+    assert not len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore"
+    assert not len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice"
+    for f_path in exp_order:
+      assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not ignored"
+
+    assert log_handler.upload_ignored == exp_order, "Files ignored in wrong order"
+
+  def test_upload_files_in_create_order(self):
+    seg1_nums = [0, 1, 2, 10, 20]
+    for i in seg1_nums:
+      self.seg_dir = self.seg_format.format(i)
+      self.gen_files(boot=False)
+    seg2_nums = [5, 50, 51]
+    for i in seg2_nums:
+      self.seg_dir = self.seg_format2.format(i)
+      self.gen_files(boot=False)
+
+    exp_order = self.gen_order(seg1_nums, seg2_nums, boot=False)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(1)
+    self.join_thread()
+
+    assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
+    assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
+    assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
+    for f_path in exp_order:
+      assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded"
+
+    assert log_handler.upload_order == exp_order, "Files uploaded in wrong order"
+
+  def test_no_upload_with_lock_file(self):
+    self.start_thread()
+
+    time.sleep(0.25)
+    f_paths = self.gen_files(lock=True, boot=False)
+
+    # allow enough time that files should have been uploaded if they would be uploaded
+    time.sleep(1)
+    self.join_thread()
+
+    for f_path in f_paths:
+      fn = f_path.with_suffix(f_path.suffix.replace(".zst", ""))
+      uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
+      assert not uploaded, "File upload when locked"
+
+  def test_no_upload_with_xattr(self):
+    self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(1)
+    self.join_thread()
+
+    assert len(log_handler.upload_order) == 0, "File uploaded again"
+
+  def test_clear_locks_on_startup(self):
+    f_paths = self.gen_files(lock=True, boot=False)
+    self.start_thread()
+    time.sleep(0.25)
+    self.join_thread()
+
+    for f_path in f_paths:
+      lock_path = f_path.with_suffix(f_path.suffix + ".lock")
+      assert not lock_path.is_file(), "File lock not cleared on startup"

system/loggerd/tests/test_zstd_writer.cc

@@ -0,0 +1,44 @@
+#include <zstd.h>
+
+#include <catch2/catch.hpp>
+#include <cstring>
+#include <vector>
+
+#include "common/util.h"
+#include "system/loggerd/logger.h"
+#include "system/loggerd/zstd_writer.h"
+
+TEST_CASE("ZstdFileWriter writes and compresses data correctly in loops", "[ZstdFileWriter]") {
+  const std::string filename = "test_zstd_file.zst";
+  const int iterations = 100;
+  const size_t dataSize = 1024;
+
+  std::string totalTestData;
+
+  // Step 1: Write compressed data to file in a loop
+  {
+    ZstdFileWriter writer(filename, LOG_COMPRESSION_LEVEL);
+    // Write various data sizes including edge cases
+    std::vector<size_t> testSizes = {dataSize, 1, 0, dataSize * 2};  // Normal, minimal, empty, large
+    for (int i = 0; i < iterations; ++i) {
+      size_t currentSize = testSizes[i % testSizes.size()];
+      std::string testData = util::random_string(currentSize);
+      totalTestData.append(testData);
+
+      writer.write((void *)testData.c_str(), testData.size());
+    }
+  }
+
+  // Step 2: Decompress the file and verify the data
+  auto compressedContent = util::read_file(filename);
+  REQUIRE(compressedContent.size() > 0);
+  REQUIRE(compressedContent.size() < totalTestData.size());
+  std::string decompressedData = zstd_decompress(compressedContent);
+
+  // Step 3: Verify that the decompressed data matches the original accumulated data
+  REQUIRE(decompressedData.size() == totalTestData.size());
+  REQUIRE(std::memcmp(decompressedData.data(), totalTestData.c_str(), totalTestData.size()) == 0);
+
+  // Clean up the test file
+  std::remove(filename.c_str());
+}

system/loggerd/tests/vidc_debug.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+cd /sys/kernel/debug/tracing
+echo "" > trace
+echo 1 > tracing_on
+echo 1 > /sys/kernel/debug/tracing/events/msm_vidc/enable
+
+echo 0xff > /sys/module/videobuf2_core/parameters/debug
+echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
+echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug
+
+cat /sys/kernel/debug/tracing/trace_pipe