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loggerd: another rotation test (#19742)

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* another rotation test

* make encoder test fast

* fix pc

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 5221450f2da5aee400bfbf764e5acdea878a585a
This commit is contained in:
Adeeb Shihadeh
2021-01-12 19:40:57 -08:00
committed by GitHub
parent 65a624db68
commit eaa1489093
2 changed files with 57 additions and 26 deletions
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55
selfdrive/loggerd/tests/test_encoder.py
View File

@@ -4,6 +4,7 @@ import os
import random
import shutil
import subprocess
import threading
import time
import unittest
from parameterized import parameterized
@@ -18,6 +19,7 @@ from selfdrive.loggerd.config import ROOT, CAMERA_FPS
# baseline file sizes for a 2s segment, in bytes
SEGMENT_LENGTH = 2
FULL_SIZE = 1253786
if EON:
CAMERAS = {
@@ -25,14 +27,12 @@ if EON:
"dcamera": 770920,
"qcamera": 38533,
}
elif TICI:
CAMERAS = {f"{c}camera": FULL_SIZE if c!="q" else 38533 for c in ["f", "e", "d", "q"]}
else:
CAMERAS = {}
CAMERAS = {f"{c}camera": FULL_SIZE if c!="q" else 38533 for c in ["f", "e", "d", "q"]}
ALL_CAMERA_COMBINATIONS = [(cameras,) for cameras in [CAMERAS, {k:CAMERAS[k] for k in CAMERAS if k!='dcamera'}]]
FRAME_TOLERANCE = 0
# we check frame count, so we don't have to be too strict on size
FILE_SIZE_TOLERANCE = 0.5
class TestEncoder(unittest.TestCase):
@@ -45,10 +45,8 @@ class TestEncoder(unittest.TestCase):
def setUp(self):
self._clear_logs()
self.segment_length = 2
os.environ["LOGGERD_TEST"] = "1"
os.environ["LOGGERD_SEGMENT_LENGTH"] = str(self.segment_length)
os.environ["LOGGERD_SEGMENT_LENGTH"] = str(SEGMENT_LENGTH)
def tearDown(self):
self._clear_logs()
@@ -63,7 +61,7 @@ class TestEncoder(unittest.TestCase):
# TODO: this should run faster than real time
@parameterized.expand(ALL_CAMERA_COMBINATIONS)
@with_processes(['camerad', 'sensord', 'loggerd'], init_time=5)
@with_processes(['camerad', 'sensord', 'loggerd'])
def test_log_rotation(self, cameras):
print("checking targets:", cameras)
Params().put("RecordFront", "1" if 'dcamera' in cameras else "0")
@@ -73,28 +71,16 @@ class TestEncoder(unittest.TestCase):
num_segments = random.randint(15, 20) # ffprobe is slow on comma two
# wait for loggerd to make the dir for first segment
time.sleep(10)
route_prefix_path = None
with Timeout(30):
with Timeout(int(SEGMENT_LENGTH*2)):
while route_prefix_path is None:
try:
route_prefix_path = self._get_latest_segment_path().rsplit("--", 1)[0]
except Exception:
time.sleep(2)
time.sleep(0.1)
continue
for i in trange(num_segments):
# poll for next segment
if i < num_segments - 1:
with Timeout(self.segment_length*3, error_msg=f"timed out waiting for segment {i}"):
while True:
seg_num = int(self._get_latest_segment_path().rsplit("--", 1)[1])
if seg_num > i:
break
time.sleep(0.1)
else:
time.sleep(self.segment_length)
def check_seg(i):
# check each camera file size
for camera, size in cameras.items():
ext = "ts" if camera=='qcamera' else "hevc"
@@ -109,16 +95,35 @@ class TestEncoder(unittest.TestCase):
if camera == 'qcamera':
continue
# TODO: this ffprobe call is really slow
# check frame count
cmd = f"ffprobe -v error -count_frames -select_streams v:0 -show_entries stream=nb_read_frames \
-of default=nokey=1:noprint_wrappers=1 {file_path}"
expected_frames = self.segment_length * CAMERA_FPS // 2 if (EON and camera=='dcamera') else self.segment_length * CAMERA_FPS
frame_tolerance = FRAME_TOLERANCE+1 if (EON and camera=='dcamera') or i==0 else FRAME_TOLERANCE
expected_frames = SEGMENT_LENGTH * CAMERA_FPS // 2 if (EON and camera=='dcamera') else SEGMENT_LENGTH * CAMERA_FPS
frame_tolerance = 1 if (EON and camera == 'dcamera') else 0
frame_count = int(subprocess.check_output(cmd, shell=True, encoding='utf8').strip())
self.assertTrue(abs(expected_frames - frame_count) <= frame_tolerance,
f"{camera} failed frame count check: expected {expected_frames}, got {frame_count}")
shutil.rmtree(f"{route_prefix_path}--{i}")
def join(ts, timeout):
for t in ts:
t.join(timeout)
threads = []
for i in trange(num_segments):
# poll for next segment
with Timeout(int(SEGMENT_LENGTH*2), error_msg=f"timed out waiting for segment {i}"):
while int(self._get_latest_segment_path().rsplit("--", 1)[1]) <= i:
time.sleep(0.1)
t = threading.Thread(target=check_seg, args=(i, ))
t.start()
threads.append(t)
join(threads, 0.1)
with Timeout(20):
join(threads, None)
if __name__ == "__main__":
unittest.main()

28
selfdrive/loggerd/tests/test_loggerd.py
View File

@@ -15,8 +15,9 @@ from common.basedir import BASEDIR
from common.timeout import Timeout
from common.params import Params
import selfdrive.manager as manager
from selfdrive.hardware import PC
from selfdrive.hardware import TICI, PC
from selfdrive.loggerd.config import ROOT
from selfdrive.test.helpers import with_processes
from selfdrive.version import version as VERSION
from tools.lib.logreader import LogReader
@@ -95,6 +96,31 @@ class TestLoggerd(unittest.TestCase):
for _, k, v in fake_params:
self.assertEqual(getattr(initData, k), v)
# TODO: this shouldn't need camerad
@with_processes(['camerad'])
def test_rotation(self):
os.environ["LOGGERD_TEST"] = "1"
Params().put("RecordFront", "1")
expected_files = {"rlog.bz2", "qlog.bz2", "qcamera.ts", "fcamera.hevc", "dcamera.hevc"}
if TICI:
expected_files.add("ecamera.hevc")
for _ in range(5):
num_segs = random.randint(1, 10)
length = random.randint(2, 5)
os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
manager.start_managed_process("loggerd")
time.sleep(num_segs * length)
manager.kill_managed_process("loggerd")
route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
for n in range(num_segs):
p = Path(f"{route_path}--{n}")
logged = set([f.name for f in p.iterdir() if f.is_file()])
diff = logged ^ expected_files
self.assertEqual(len(diff), 0)
def test_bootlog(self):
# generate bootlog with fake launch log
launch_log = ''.join([str(random.choice(string.printable)) for _ in range(100)])