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 <shane@smiskol.com>
2025-12-08 18:39:47 -08:00
parent 7119412d35
commit fb807cc007
7 changed files with 520 additions and 2 deletions
--- a/.github/workflows/mici_raylib_ui_preview.yaml
+++ 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("(?<number>[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="❌ <strong>Videos differ!</strong> [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 ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment Video on PR
+        if: github.event_name == 'pull_request_target'
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
+            ## mici raylib UI Preview
+            ${{ steps.find_diff.outputs.DIFF }}
+          comment_tag: run_id_video_mici_raylib
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -265,3 +265,29 @@ jobs:
        with:
          name: raylib-report-${{ 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
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -85,6 +85,7 @@ docs = [
 ]

 testing = [
+  "coverage",
  "hypothesis ==6.47.*",
  "mypy",
  "pytest",
--- 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/
--- a/selfdrive/ui/tests/diff/diff.py
+++ 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"""<h2>UI Diff</h2>
+<table>
+<tr>
+<td width='33%'>
+  <p><strong>Video 1</strong></p>
+  <video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Video 2</strong></p>
+  <video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Pixel Diff</strong></p>
+  <video id='diffVideo' width='100%' autoplay muted loop>
+    <source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+</tr>
+</table>
+<script>
+function syncVideos() {{
+  const video1 = document.getElementById('video1');
+  const video2 = document.getElementById('video2');
+  const diffVideo = document.getElementById('diffVideo');
+  video1.currentTime = video2.currentTime = diffVideo.currentTime;
+}}
+video1.addEventListener('timeupdate', () => {{
+  if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
+    video2.currentTime = video1.currentTime;
+  }}
+  if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video1.currentTime;
+  }}
+}});
+video2.addEventListener('timeupdate', () => {{
+  if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = video2.currentTime;
+  }}
+  if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video2.currentTime;
+  }}
+}});
+diffVideo.addEventListener('timeupdate', () => {{
+  if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = diffVideo.currentTime;
+    video2.currentTime = diffVideo.currentTime;
+  }}
+}});
+</script>
+<hr>
+<p><strong>Results:</strong> {result_text}</p>
+"""
+  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())
--- a/selfdrive/ui/tests/diff/replay.py
+++ 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()
--- 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 = "https://pypi.org/simple" }
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+
 [[package]]
 name = "crcmod"
 version = "1.7"
@@ -1349,6 +1384,7 @@ docs = [
 ]
 testing = [
    { name = "codespell" },
+    { name = "coverage" },
    { name = "hypothesis" },
    { name = "mypy" },
    { name = "pre-commit-hooks" },
@@ -1364,7 +1400,7 @@ testing = [
    { name = "ruff" },
 ]
 tools = [
-    { name = "dearpygui" },
+    { name = "dearpygui", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
 ]

@@ -1378,10 +1414,11 @@ requires-dist = [
    { name = "casadi", specifier = ">=3.6.6" },
    { name = "cffi" },
    { name = "codespell", marker = "extra == 'testing'" },
+    { name = "coverage", marker = "extra == 'testing'" },
    { name = "crcmod" },
    { name = "cython" },
    { name = "dbus-next", marker = "extra == 'dev'" },
-    { name = "dearpygui", marker = "extra == 'tools'", specifier = ">=2.1.0" },
+    { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" },
    { name = "dictdiffer", marker = "extra == 'dev'" },
    { name = "future-fstrings" },
    { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },