openpilot v0.11.1 release

date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
2026-06-04 09:50:05 -07:00
commit 6adb63b915
3381 changed files with 1044370 additions and 0 deletions
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+#!/usr/bin/env python3
+import os
+import sys
+import subprocess
+import webbrowser
+import argparse
+from pathlib import Path
+from openpilot.common.basedir import BASEDIR
+
+DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
+HTML_TEMPLATE_PATH = Path(__file__).with_name("diff_template.html")
+
+
+def extract_framehashes(video_path):
+  cmd = ['ffmpeg', '-i', video_path, '-map', '0:v:0', '-vsync', '0', '-f', 'framehash', '-hash', 'md5', '-']
+  result = subprocess.run(cmd, capture_output=True, text=True, check=True)
+  hashes = []
+  for line in result.stdout.splitlines():
+    if not line or line.startswith('#'):
+      continue
+    parts = line.split(',')
+    if len(parts) < 4:
+      continue
+    hashes.append(parts[-1].strip())
+  return hashes
+
+
+def create_diff_video(video1, video2, output_path):
+  """Create a diff video using ffmpeg blend filter with difference mode."""
+  print("Creating diff video...")
+  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
+  subprocess.run(cmd, capture_output=True, check=True)
+
+
+def find_differences(video1, video2) -> tuple[list[int], tuple[int, int]]:
+  print(f"Hashing frames from {video1}...")
+  hashes1 = extract_framehashes(video1)
+
+  print(f"Hashing frames from {video2}...")
+  hashes2 = extract_framehashes(video2)
+
+  print(f"Comparing {len(hashes1)} frames...")
+  different_frames = []
+
+  for i, (h1, h2) in enumerate(zip(hashes1, hashes2, strict=False)):
+    if h1 != h2:
+      different_frames.append(i)
+
+  return different_frames, (len(hashes1), len(hashes2))
+
+
+def generate_html_report(videos: tuple[str, str], basedir: str, different_frames: list[int], frame_counts: tuple[int, int], diff_video_name):
+  chunks = []
+  if different_frames:
+    current_chunk = [different_frames[0]]
+    for i in range(1, len(different_frames)):
+      if different_frames[i] == different_frames[i - 1] + 1:
+        current_chunk.append(different_frames[i])
+      else:
+        chunks.append(current_chunk)
+        current_chunk = [different_frames[i]]
+    chunks.append(current_chunk)
+
+  total_frames = max(frame_counts)
+  frame_delta = frame_counts[1] - frame_counts[0]
+  different_total = len(different_frames) + abs(frame_delta)
+
+  result_text = (
+    f"✅ Videos are identical! ({total_frames} frames)"
+    if different_total == 0
+    else f"❌ Found {different_total} different frames out of {total_frames} total ({different_total / total_frames * 100:.1f}%)."
+    + (f" Video {'2' if frame_delta > 0 else '1'} is longer by {abs(frame_delta)} frames." if frame_delta != 0 else "")
+  )
+
+  # Load HTML template and replace placeholders
+  html = HTML_TEMPLATE_PATH.read_text()
+  placeholders = {
+    "VIDEO1_SRC": os.path.join(basedir, os.path.basename(videos[0])),
+    "VIDEO2_SRC": os.path.join(basedir, os.path.basename(videos[1])),
+    "DIFF_SRC": os.path.join(basedir, diff_video_name),
+    "RESULT_TEXT": result_text,
+  }
+  for key, value in placeholders.items():
+    html = html.replace(f"${key}", value)
+
+  return html
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
+  parser.add_argument('video1', help='First video file')
+  parser.add_argument('video2', help='Second video file')
+  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
+  parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
+  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
+
+  args = parser.parse_args()
+
+  if not args.output.lower().endswith('.html'):
+    args.output += '.html'
+
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  print("=" * 60)
+  print("VIDEO DIFF - HTML REPORT")
+  print("=" * 60)
+  print(f"Video 1: {args.video1}")
+  print(f"Video 2: {args.video2}")
+  print(f"Output: {args.output}")
+  print()
+
+  # Create diff video with name derived from output HTML
+  diff_video_name = Path(args.output).stem + '.mp4'
+  diff_video_path = str(DIFF_OUT_DIR / diff_video_name)
+  create_diff_video(args.video1, args.video2, diff_video_path)
+
+  different_frames, frame_counts = find_differences(args.video1, args.video2)
+
+  if different_frames is None:
+    sys.exit(1)
+
+  print()
+  print("Generating HTML report...")
+  html = generate_html_report((args.video1, args.video2), args.basedir, different_frames, frame_counts, diff_video_name)
+
+  with open(DIFF_OUT_DIR / args.output, 'w') as f:
+    f.write(html)
+
+  # Open in browser by default
+  if not args.no_open:
+    print(f"Opening {args.output} in browser...")
+    webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
+
+  extra_frames = abs(frame_counts[0] - frame_counts[1])
+  return 0 if (len(different_frames) + extra_frames) == 0 else 1
+
+
+if __name__ == "__main__":
+  sys.exit(main())