sunnypilot v2026.02.09-4080
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
This commit is contained in:
github-actions[bot]
201
selfdrive/ui/tests/diff/diff.py
Executable file
201
selfdrive/ui/tests/diff/diff.py
Executable file
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#!/usr/bin/env python3
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import os
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import sys
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import subprocess
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import tempfile
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import base64
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import webbrowser
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import argparse
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from pathlib import Path
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from openpilot.common.basedir import BASEDIR
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DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
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def extract_frames(video_path, output_dir):
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output_pattern = str(output_dir / "frame_%04d.png")
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cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
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subprocess.run(cmd, capture_output=True, check=True)
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frames = sorted(output_dir.glob("frame_*.png"))
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return frames
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def compare_frames(frame1_path, frame2_path):
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result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
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return result.returncode == 0
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def frame_to_data_url(frame_path):
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with open(frame_path, 'rb') as f:
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data = f.read()
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return f"data:image/png;base64,{base64.b64encode(data).decode()}"
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def create_diff_video(video1, video2, output_path):
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"""Create a diff video using ffmpeg blend filter with difference mode."""
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print("Creating diff video...")
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cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
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subprocess.run(cmd, capture_output=True, check=True)
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def find_differences(video1, video2):
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with tempfile.TemporaryDirectory() as tmpdir:
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tmpdir = Path(tmpdir)
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print(f"Extracting frames from {video1}...")
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frames1_dir = tmpdir / "frames1"
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frames1_dir.mkdir()
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frames1 = extract_frames(video1, frames1_dir)
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print(f"Extracting frames from {video2}...")
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frames2_dir = tmpdir / "frames2"
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frames2_dir.mkdir()
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frames2 = extract_frames(video2, frames2_dir)
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if len(frames1) != len(frames2):
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print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
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min_frames = min(len(frames1), len(frames2))
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frames1 = frames1[:min_frames]
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frames2 = frames2[:min_frames]
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print(f"Comparing {len(frames1)} frames...")
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different_frames = []
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frame_data = []
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for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
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is_different = not compare_frames(f1, f2)
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if is_different:
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different_frames.append(i)
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if i < 10 or i >= len(frames1) - 10 or is_different:
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frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
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return different_frames, frame_data, len(frames1)
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def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
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chunks = []
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if different_frames:
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current_chunk = [different_frames[0]]
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for i in range(1, len(different_frames)):
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if different_frames[i] == different_frames[i - 1] + 1:
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current_chunk.append(different_frames[i])
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else:
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chunks.append(current_chunk)
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current_chunk = [different_frames[i]]
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chunks.append(current_chunk)
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result_text = (
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f"✅ Videos are identical! ({total_frames} frames)"
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if len(different_frames) == 0
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else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
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)
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html = f"""<h2>UI Diff</h2>
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<table>
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<tr>
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<td width='33%'>
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<p><strong>Video 1</strong></p>
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<video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
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<source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
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Your browser does not support the video tag.
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</video>
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</td>
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<td width='33%'>
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<p><strong>Video 2</strong></p>
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<video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
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<source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
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Your browser does not support the video tag.
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</video>
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</td>
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<td width='33%'>
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<p><strong>Pixel Diff</strong></p>
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<video id='diffVideo' width='100%' autoplay muted loop>
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<source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
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Your browser does not support the video tag.
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</video>
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</td>
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</tr>
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</table>
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<script>
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function syncVideos() {{
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const video1 = document.getElementById('video1');
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const video2 = document.getElementById('video2');
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const diffVideo = document.getElementById('diffVideo');
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video1.currentTime = video2.currentTime = diffVideo.currentTime;
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}}
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video1.addEventListener('timeupdate', () => {{
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if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
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video2.currentTime = video1.currentTime;
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}}
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if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
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diffVideo.currentTime = video1.currentTime;
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}}
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}});
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video2.addEventListener('timeupdate', () => {{
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if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
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video1.currentTime = video2.currentTime;
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}}
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if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
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diffVideo.currentTime = video2.currentTime;
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}}
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}});
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diffVideo.addEventListener('timeupdate', () => {{
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if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
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video1.currentTime = diffVideo.currentTime;
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video2.currentTime = diffVideo.currentTime;
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}}
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}});
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</script>
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<hr>
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<p><strong>Results:</strong> {result_text}</p>
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"""
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return html
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def main():
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parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
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parser.add_argument('video1', help='First video file')
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parser.add_argument('video2', help='Second video file')
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parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
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parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
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parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
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args = parser.parse_args()
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os.makedirs(DIFF_OUT_DIR, exist_ok=True)
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print("=" * 60)
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print("VIDEO DIFF - HTML REPORT")
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print("=" * 60)
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print(f"Video 1: {args.video1}")
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print(f"Video 2: {args.video2}")
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print(f"Output: {args.output}")
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print()
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# Create diff video
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diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
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create_diff_video(args.video1, args.video2, diff_video_path)
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different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
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if different_frames is None:
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sys.exit(1)
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print()
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print("Generating HTML report...")
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html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
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with open(DIFF_OUT_DIR / args.output, 'w') as f:
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f.write(html)
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# Open in browser by default
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if not args.no_open:
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print(f"Opening {args.output} in browser...")
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webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
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return 0 if len(different_frames) == 0 else 1
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if __name__ == "__main__":
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sys.exit(main())
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