Merge remote-tracking branch 'commaai/openpilot/master' into sync-priv-20231016

selfdrive/test/process_replay/compare_logs.py

@@ -91,42 +91,40 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
 
 
 def format_diff(results, log_paths, ref_commit):
-  diff1, diff2 = "", ""
-  diff2 += f"***** tested against commit {ref_commit} *****\n"
+  diff_short, diff_long = "", ""
+  diff_long += f"***** tested against commit {ref_commit} *****\n"
 
   failed = False
   for segment, result in list(results.items()):
-    diff1 += f"***** results for segment {segment} *****\n"
-    diff2 += f"***** differences for segment {segment} *****\n"
+    diff_short += f"***** results for segment {segment} *****\n"
+    diff_long += f"***** differences for segment {segment} *****\n"
 
     for proc, diff in list(result.items()):
-      # long diff
-      diff2 += f"*** process: {proc} ***\n"
-      diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n"
-      diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
+      diff_long += f"*** process: {proc} ***\n"
+      diff_long += f"\tref: {log_paths[segment][proc]['ref']}\n"
+      diff_long += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
 
-      # short diff
-      diff1 += f"    {proc}\n"
+      diff_short += f"    {proc}\n"
       if isinstance(diff, str):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-        diff1 += f"        {diff}\n"
+        diff_short += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff_short += f"        new: {log_paths[segment][proc]['new']}\n\n"
+        diff_short += f"        {diff}\n"
         failed = True
       elif len(diff):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
+        diff_short += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff_short += f"        new: {log_paths[segment][proc]['new']}\n\n"
 
         cnt: Dict[str, int] = {}
         for d in diff:
-          diff2 += f"\t{str(d)}\n"
+          diff_long += f"\t{str(d)}\n"
 
           k = str(d[1])
           cnt[k] = 1 if k not in cnt else cnt[k] + 1
 
         for k, v in sorted(cnt.items()):
-          diff1 += f"        {k}: {v}\n"
+          diff_short += f"        {k}: {v}\n"
         failed = True
-  return diff1, diff2, failed
+  return diff_short, diff_long, failed
 
 
 if __name__ == "__main__":
@@ -135,7 +133,7 @@ if __name__ == "__main__":
   ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"]
   results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}}
   log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}}
-  diff1, diff2, failed = format_diff(results, log_paths, None)
+  diff_short, diff_long, failed = format_diff(results, log_paths, None)
 
-  print(diff2)
-  print(diff1)
+  print(diff_long)
+  print(diff_short)

selfdrive/test/process_replay/model_replay.py

@@ -212,13 +212,13 @@ if __name__ == "__main__":
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
-      diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
+      diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
 
-      print(diff2)
+      print(diff_long)
       print('-------------\n'*5)
-      print(diff1)
+      print(diff_short)
       with open("model_diff.txt", "w") as f:
-        f.write(diff2)
+        f.write(diff_long)
     except Exception as e:
       print(str(e))
       failed = True

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-ed2d58ec217fafb7b6b8f5e27ec622acd9e734f4
+f851c7e7f90eff828a59444d20fac5df8cd7ae0c

selfdrive/test/process_replay/test_processes.py

@@ -61,7 +61,7 @@ segments = [
   ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "mazda", "tesla"]
+excluded_interfaces = ["mock", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -207,11 +207,11 @@ if __name__ == "__main__":
       if not args.upload_only:
         results[segment][proc] = result
 
-  diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
+  diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
   if not upload:
     with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
-      f.write(diff2)
-    print(diff1)
+      f.write(diff_long)
+    print(diff_short)
 
     if failed:
       print("TEST FAILED")