From fb807cc007b32787b726d505109ba7b47eb1b45e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Dec 2025 18:39:47 -0800 Subject: [PATCH] ui: video diff tool (#36737) * video diff * format * duplicate * try * WINDOWED * ? * correct res * Revert "correct res" This reverts commit f90991192fce93a31d1b581a4f0ff93a7a972337. * save to report/ * add duplicate * work? * fix * more * more * and this * ffmpeg * branch * uncmt * test preview * Revert "uncmt" This reverts commit b02404dbbe515fd861717f831c7bb0243442ddbc. * create openpilot_master_ui_mici_raylib * ahh * push to master * copy and always run * test * does cmt break it? * who did this * fix? * fix that * hmm * hmm * ah this was moving it, and then the job below didn't run on master * google ai overview lied to me * use markdown to start * need to add to one branch * ???? * oof * no * this work? * test * try this * clean up master branch name * more cleanup more cleanup * don't fail for no diff! don't fail for no diff! * back * add to cmt * test it * should work * fix that * back * clean up * clean up * save to report * pull_request_target * sort --------- Co-authored-by: Shane Smiskol --- .github/workflows/mici_raylib_ui_preview.yaml | 151 +++++++++++++ .github/workflows/tests.yaml | 26 +++ pyproject.toml | 1 + selfdrive/ui/tests/.gitignore | 5 + selfdrive/ui/tests/diff/diff.py | 201 ++++++++++++++++++ selfdrive/ui/tests/diff/replay.py | 97 +++++++++ uv.lock | 41 +++- 7 files changed, 520 insertions(+), 2 deletions(-) create mode 100644 .github/workflows/mici_raylib_ui_preview.yaml create mode 100755 selfdrive/ui/tests/diff/diff.py create mode 100755 selfdrive/ui/tests/diff/replay.py diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml new file mode 100644 index 000000000..707825b1a --- /dev/null +++ b/.github/workflows/mici_raylib_ui_preview.yaml @@ -0,0 +1,151 @@ +name: "mici raylib ui preview" +on: + push: + branches: + - master + pull_request_target: + types: [assigned, opened, synchronize, reopened, edited] + branches: + - 'master' + paths: + - 'selfdrive/assets/**' + - 'selfdrive/ui/**' + - 'system/ui/**' + workflow_dispatch: + +env: + UI_JOB_NAME: "Create mici raylib UI Report" + REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} + SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }} + BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui" + MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib" + # All report files are pushed here + REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports" + +jobs: + preview: + if: github.repository == 'commaai/openpilot' + name: preview + runs-on: ubuntu-latest + timeout-minutes: 20 + permissions: + contents: read + pull-requests: write + actions: read + steps: + - uses: actions/checkout@v4 + with: + submodules: true + + - name: Waiting for ui generation to end + uses: lewagon/wait-on-check-action@v1.3.4 + with: + ref: ${{ env.SHA }} + check-name: ${{ env.UI_JOB_NAME }} + repo-token: ${{ secrets.GITHUB_TOKEN }} + allowed-conclusions: success + wait-interval: 20 + + - name: Getting workflow run ID + id: get_run_id + run: | + echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT + + - name: Getting proposed ui # filename: pr_ui/mici_ui_replay.mp4 + id: download-artifact + uses: dawidd6/action-download-artifact@v6 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + run_id: ${{ steps.get_run_id.outputs.run_id }} + search_artifacts: true + name: mici-raylib-report-1-${{ env.REPORT_NAME }} + path: ${{ github.workspace }}/pr_ui + + - name: Getting master ui # filename: master_ui_raylib/mici_ui_replay.mp4 + uses: actions/checkout@v4 + with: + repository: commaai/ci-artifacts + ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} + path: ${{ github.workspace }}/master_ui_raylib + ref: ${{ env.MASTER_BRANCH_NAME }} + + - name: Saving new master ui + if: github.ref == 'refs/heads/master' && github.event_name == 'push' + working-directory: ${{ github.workspace }}/master_ui_raylib + run: | + git checkout --orphan=new_master_ui_mici_raylib + git rm -rf * + git branch -D ${{ env.MASTER_BRANCH_NAME }} + git branch -m ${{ env.MASTER_BRANCH_NAME }} + git config user.name "GitHub Actions Bot" + git config user.email "<>" + mv ${{ github.workspace }}/pr_ui/* . + git add . + git commit -m "mici raylib video for commit ${{ env.SHA }}" + git push origin ${{ env.MASTER_BRANCH_NAME }} --force + + - name: Setup FFmpeg + uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae + + - name: Finding diff + if: github.event_name == 'pull_request_target' + id: find_diff + run: | + # Find the video file from PR + pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" + mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video" + + master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" + mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video" + + # Run report + export PYTHONPATH=${{ github.workspace }} + baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}" + diff_exit_code=0 + python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$? + + # Copy diff report files + cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/ + cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/ + + REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html" + if [ $diff_exit_code -eq 0 ]; then + DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)" + else + DIFF="❌ Videos differ! [View Diff Report]($REPORT_URL)" + fi + echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT" + + - name: Saving proposed ui + if: github.event_name == 'pull_request_target' + working-directory: ${{ github.workspace }}/master_ui_raylib + run: | + # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference + git config user.name "GitHub Actions Bot" + git config user.email "<>" + git checkout --orphan=${{ env.BRANCH_NAME }} + git rm -rf * + mv ${{ github.workspace }}/pr_ui/* . + git add . + git commit -m "mici raylib video for PR #${{ github.event.number }}" + git push origin ${{ env.BRANCH_NAME }} --force + + # Append diff report to report files branch + git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }} + git checkout ${{ env.REPORT_FILES_BRANCH_NAME }} + cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html + git add diff_pr_${{ github.event.number }}.html + git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit" + git push origin ${{ env.REPORT_FILES_BRANCH_NAME }} + + - name: Comment Video on PR + if: github.event_name == 'pull_request_target' + uses: thollander/actions-comment-pull-request@v2 + with: + message: | + + ## mici raylib UI Preview + ${{ steps.find_diff.outputs.DIFF }} + comment_tag: run_id_video_mici_raylib + pr_number: ${{ github.event.number }} + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index 5ca020424..c5802b5cb 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -265,3 +265,29 @@ jobs: with: name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} path: selfdrive/ui/tests/test_ui/raylib_report/screenshots + + create_mici_raylib_ui_report: + name: Create mici raylib UI Report + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) + && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') + || fromJSON('["ubuntu-24.04"]') }} + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + run: ${{ env.RUN }} "scons -j$(nproc)" + - name: Create mici raylib UI Report + run: > + ${{ env.RUN }} "PYTHONWARNINGS=ignore && + source selfdrive/test/setup_xvfb.sh && + WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py" + - name: Upload Raylib UI Report + uses: actions/upload-artifact@v4 + with: + name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} + path: selfdrive/ui/tests/diff/report diff --git a/pyproject.toml b/pyproject.toml index b2acf1c09..b45a808f1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -85,6 +85,7 @@ docs = [ ] testing = [ + "coverage", "hypothesis ==6.47.*", "mypy", "pytest", diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index d926a7ae8..98f2a5e8c 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -2,3 +2,8 @@ test test_translations test_ui/report_1 test_ui/raylib_report + +diff/*.mp4 +diff/*.html +diff/.coverage +diff/htmlcov/ diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py new file mode 100755 index 000000000..be7af5438 --- /dev/null +++ b/selfdrive/ui/tests/diff/diff.py @@ -0,0 +1,201 @@ +#!/usr/bin/env python3 +import os +import sys +import subprocess +import tempfile +import base64 +import webbrowser +import argparse +from pathlib import Path +from openpilot.common.basedir import BASEDIR + +DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report" + + +def extract_frames(video_path, output_dir): + output_pattern = str(output_dir / "frame_%04d.png") + cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y'] + subprocess.run(cmd, capture_output=True, check=True) + frames = sorted(output_dir.glob("frame_*.png")) + return frames + + +def compare_frames(frame1_path, frame2_path): + result = subprocess.run(['cmp', '-s', frame1_path, frame2_path]) + return result.returncode == 0 + + +def frame_to_data_url(frame_path): + with open(frame_path, 'rb') as f: + data = f.read() + return f"data:image/png;base64,{base64.b64encode(data).decode()}" + + +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): + with tempfile.TemporaryDirectory() as tmpdir: + tmpdir = Path(tmpdir) + + print(f"Extracting frames from {video1}...") + frames1_dir = tmpdir / "frames1" + frames1_dir.mkdir() + frames1 = extract_frames(video1, frames1_dir) + + print(f"Extracting frames from {video2}...") + frames2_dir = tmpdir / "frames2" + frames2_dir.mkdir() + frames2 = extract_frames(video2, frames2_dir) + + if len(frames1) != len(frames2): + print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}") + min_frames = min(len(frames1), len(frames2)) + frames1 = frames1[:min_frames] + frames2 = frames2[:min_frames] + + print(f"Comparing {len(frames1)} frames...") + different_frames = [] + frame_data = [] + + for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)): + is_different = not compare_frames(f1, f2) + if is_different: + different_frames.append(i) + + if i < 10 or i >= len(frames1) - 10 or is_different: + frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)}) + + return different_frames, frame_data, len(frames1) + + +def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames): + 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) + + result_text = ( + f"✅ Videos are identical! ({total_frames} frames)" + if len(different_frames) == 0 + else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)" + ) + + html = f"""

UI Diff

+ + + + + + +
+

Video 1

+ +		 +

Video 2

+ +		 +

Pixel Diff

+ +
+ +
+

Results: {result_text}

+""" + 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() + + 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 + diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4") + create_diff_video(args.video1, args.video2, diff_video_path) + + different_frames, frame_data, total_frames = 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_data, total_frames) + + 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)}') + + return 0 if len(different_frames) == 0 else 1 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py new file mode 100755 index 000000000..44df75fa5 --- /dev/null +++ b/selfdrive/ui/tests/diff/replay.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python3 +import os +import time +import coverage +import pyray as rl +from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR + +os.environ["RECORD"] = "1" +if "RECORD_OUTPUT" not in os.environ: + os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4" + +os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"]) + +from openpilot.common.params import Params +from openpilot.system.version import terms_version, training_version +from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout + +FPS = 60 +HEADLESS = os.getenv("WINDOWED", "0") == "1" + +SCRIPT = [ + (0, None), + (FPS * 1, (100, 100)), + (FPS * 2, None), +] + + +def setup_state(): + params = Params() + params.put("HasAcceptedTerms", terms_version) + params.put("CompletedTrainingVersion", training_version) + params.put("DongleId", "test123456789") + params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30") + return None + + +def inject_click(x, y): + press_event = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=True, t=time.monotonic()) + + release_event = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()) + + with gui_app._mouse._lock: + gui_app._mouse._events.append(press_event) + gui_app._mouse._events.append(release_event) + + +def run_replay(): + setup_state() + os.makedirs(DIFF_OUT_DIR, exist_ok=True) + + if not HEADLESS: + rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN) + gui_app.init_window("ui diff test", fps=FPS) + main_layout = MiciMainLayout() + main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) + + frame = 0 + script_index = 0 + + for should_render in gui_app.render(): + while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame: + _, coords = SCRIPT[script_index] + if coords is not None: + inject_click(*coords) + script_index += 1 + + ui_state.update() + + if should_render: + main_layout.render() + + frame += 1 + + if script_index >= len(SCRIPT): + break + + gui_app.close() + + print(f"Total frames: {frame}") + print(f"Video saved to: {os.environ['RECORD_OUTPUT']}") + + +def main(): + cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici']) + with cov.collect(): + run_replay() + cov.stop() + cov.save() + cov.report() + cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov')) + print("HTML report: htmlcov/index.html") + + +if __name__ == "__main__": + main() diff --git a/uv.lock b/uv.lock index c34a6d9b7..650220c87 100644 --- a/uv.lock +++ b/uv.lock @@ -371,6 +371,41 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/0c/58/bd257695f39d05594ca4ad60df5bcb7e32247f9951fd09a9b8edb82d1daa/contourpy-1.3.3-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:3d1a3799d62d45c18bafd41c5fa05120b96a28079f2393af559b843d1a966a77", size = 225315, upload-time = "2025-07-26T12:02:58.801Z" }, ] +[[package]] +name = "coverage" +version = "7.12.0" +source = { registry = 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