From 37207f61e9bb5ee4acf9bd2c4a2ecce16035274d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 10 Mar 2026 21:23:32 -0700 Subject: [PATCH] Replace `mull` with custom mutation test runner (#3130) simple mutation! --- .github/workflows/tests.yml | 6 +- .gitignore | 2 +- opendbc/safety/tests/libsafety/SConscript | 21 +- .../safety/tests/libsafety/libsafety_py.py | 10 +- opendbc/safety/tests/mutation.py | 633 ++++++++++++++++++ opendbc/safety/tests/mutation.sh | 20 - opendbc/safety/tests/test.sh | 7 +- pyproject.toml | 5 + setup.sh | 21 - uv.lock | 41 ++ 10 files changed, 704 insertions(+), 62 deletions(-) create mode 100755 opendbc/safety/tests/mutation.py delete mode 100755 opendbc/safety/tests/mutation.sh diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index dc90c32b..0e68bf79 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -44,17 +44,13 @@ jobs: include: - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }} - env: - GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }} steps: - uses: actions/checkout@v4 - with: - fetch-depth: 0 # need master to get diff - name: Run mutation tests run: | source setup.sh scons -j8 - cd opendbc/safety/tests && ./mutation.sh + python opendbc/safety/tests/mutation.py car_diff: name: car diff diff --git a/.gitignore b/.gitignore index 269017bf..7aebff78 100644 --- a/.gitignore +++ b/.gitignore @@ -20,8 +20,8 @@ /dist/ .vscode/ __pycache__/ -mull.yml *.profraw +.sconf_temp/ opendbc/can/build/ opendbc/can/obj/ diff --git a/opendbc/safety/tests/libsafety/SConscript b/opendbc/safety/tests/libsafety/SConscript index 10adf3f8..3117d985 100644 --- a/opendbc/safety/tests/libsafety/SConscript +++ b/opendbc/safety/tests/libsafety/SConscript @@ -26,18 +26,17 @@ env = Environment( tools=["default", "compilation_db"], ) -# The Mull plugin injects mutations that are dormant unless run with mull-runner -if system == "Darwin": - mull_plugin = Dir('#').abspath + '/.mull/lib/mull-ir-frontend-18' -else: - mull_plugin = '/usr/lib/mull-ir-frontend-18' -if os.path.exists(mull_plugin): - # Only use mull plugin if it exists - env['CC'] = 'clang-18' - env.Append(CFLAGS=['-fprofile-arcs', '-ftest-coverage', f'-fpass-plugin={mull_plugin}']) +# add coverage if available +# Use TryCompile (not TryLink) because -nostdlib in CFLAGS breaks the link probe. +conf = Configure(env, log_file=os.devnull) +prev = env['CFLAGS'][:] +env.Append(CFLAGS=['-fprofile-arcs', '-ftest-coverage']) +has_coverage = conf.TryCompile('int x;\n', '.c') +env['CFLAGS'] = prev +if has_coverage: + env.Append(CFLAGS=['-fprofile-arcs', '-ftest-coverage']) env.Append(LINKFLAGS=['-fprofile-arcs', '-ftest-coverage']) - if system == "Darwin": - env.PrependENVPath('PATH', '/opt/homebrew/opt/llvm@18/bin') +env = conf.Finish() safety = env.SharedObject("safety.os", "safety.c") libsafety = env.SharedLibrary("libsafety.so", [safety]) diff --git a/opendbc/safety/tests/libsafety/libsafety_py.py b/opendbc/safety/tests/libsafety/libsafety_py.py index e93b782e..be98fdab 100644 --- a/opendbc/safety/tests/libsafety/libsafety_py.py +++ b/opendbc/safety/tests/libsafety/libsafety_py.py @@ -4,7 +4,6 @@ from cffi import FFI from opendbc.safety import LEN_TO_DLC libsafety_dir = os.path.dirname(os.path.abspath(__file__)) -libsafety_fn = os.path.join(libsafety_dir, "libsafety.so") ffi = FFI() @@ -77,11 +76,18 @@ bool get_honda_fwd_brake(void); void set_honda_alt_brake_msg(bool c); void set_honda_bosch_long(bool c); int get_honda_hw(void); + +void mutation_set_active_mutant(int id); +int mutation_get_active_mutant(void); """) class LibSafety: pass -libsafety: LibSafety = ffi.dlopen(libsafety_fn) +libsafety: LibSafety = ffi.dlopen(os.path.join(libsafety_dir, "libsafety.so")) + +def load(path): + global libsafety + libsafety = ffi.dlopen(str(path)) def make_CANPacket(addr: int, bus: int, dat): ret = ffi.new('CANPacket_t *') diff --git a/opendbc/safety/tests/mutation.py b/opendbc/safety/tests/mutation.py new file mode 100755 index 00000000..a137ef68 --- /dev/null +++ b/opendbc/safety/tests/mutation.py @@ -0,0 +1,633 @@ +#!/usr/bin/env python3 +import argparse +import io +import os +import re +import subprocess +import sys +import tempfile +import time +import unittest +from concurrent.futures import ProcessPoolExecutor, as_completed +from collections import Counter, namedtuple +from dataclasses import dataclass +from pathlib import Path + +import tree_sitter_c as ts_c +import tree_sitter as ts + + +ROOT = Path(__file__).resolve().parents[3] +SAFETY_DIR = ROOT / "opendbc" / "safety" +SAFETY_TESTS_DIR = ROOT / "opendbc" / "safety" / "tests" +SAFETY_C_REL = Path("opendbc/safety/tests/libsafety/safety.c") + +ANSI_RESET = "\033[0m" +ANSI_BOLD = "\033[1m" +ANSI_RED = "\033[31m" +ANSI_GREEN = "\033[32m" +ANSI_YELLOW = "\033[33m" + +COMPARISON_OPERATOR_MAP = { + "==": "!=", + "!=": "==", + ">": "<=", + ">=": "<", + "<": ">=", + "<=": ">", +} + +MUTATOR_FAMILIES = { + "increment": ("update_expression", {"++": "--"}), + "decrement": ("update_expression", {"--": "++"}), + "comparison": ("binary_expression", COMPARISON_OPERATOR_MAP), + "boundary": ("number_literal", {}), + "bitwise_assignment": ("assignment_expression", {"&=": "|=", "|=": "&=", "^=": "&="}), + "bitwise": ("binary_expression", {"&": "|", "|": "&", "^": "&"}), + "arithmetic_assignment": ("assignment_expression", {"+=": "-=", "-=": "+=", "*=": "/=", "/=": "*=", "%=": "*="}), + "arithmetic": ("binary_expression", {"+": "-", "-": "+", "*": "/", "/": "*", "%": "*"}), + "remove_negation": ("unary_expression", {"!": ""}), +} + + +_RawSite = namedtuple('_RawSite', 'expr_start expr_end op_start op_end line original_op mutated_op mutator') + + +@dataclass(frozen=True) +class MutationSite: + site_id: int + expr_start: int + expr_end: int + op_start: int + op_end: int + line: int + original_op: str + mutated_op: str + mutator: str + origin_file: Path + origin_line: int + + +@dataclass(frozen=True) +class MutantResult: + site: MutationSite + outcome: str # killed | survived | infra_error + test_sec: float + details: str + + +def colorize(text, color): + term = os.environ.get("TERM", "") + if not sys.stdout.isatty() or term in ("", "dumb") or "NO_COLOR" in os.environ: + return text + return f"{color}{text}{ANSI_RESET}" + + +def format_mutation(original_op, mutated_op): + return colorize(f"{original_op}->{mutated_op}", ANSI_RED) + + +def _parse_int_literal(token): + m = re.fullmatch(r"([0-9][0-9a-fA-FxX]*)([uUlL]*)", token) + if m is None: + return None + body, suffix = m.groups() + try: + value = int(body, 0) + except ValueError: + return None + base = "hex" if body.lower().startswith("0x") else "dec" + return value, base, suffix + + +def _site_key(site): + return (site.op_start, site.op_end, site.mutator) + + +def _is_in_constexpr_context(node): + """Check if a node is inside a static or file-scope variable initializer.""" + current = node.parent + while current is not None: + if current.type == "init_declarator": + decl = current.parent + if decl and decl.type == "declaration": + for child in decl.children: + if child.type == "storage_class_specifier" and child.text == b"static": + return True + if decl.parent and decl.parent.type == "translation_unit": + return True + current = current.parent + return False + + +def _prepare_for_parsing(txt): + """Blank line markers and replace __typeof__() for tree-sitter. Preserves byte offsets.""" + result = re.sub( + r'^[ \t]*#[ \t]+\d+[ \t]+"[^\n]*', + lambda m: " " * len(m.group()), + txt, + flags=re.MULTILINE, + ) + # Replace __typeof__(...) with padded int (handle nested parens) + parts = [] + i = 0 + for m in re.finditer(r"(?:__typeof__|typeof)\s*\(", result): + if m.start() < i: + continue # skip nested typeof inside already-replaced region + parts.append(result[i:m.start()]) + depth = 1 + j = m.end() + while j < len(result) and depth > 0: + if result[j] == "(": + depth += 1 + elif result[j] == ")": + depth -= 1 + j += 1 + parts.append("int" + " " * (j - m.start() - 3)) + i = j + parts.append(result[i:]) + return "".join(parts) + + +def enumerate_sites(input_source, preprocessed_file): + subprocess.run([ + "cc", "-E", "-std=gnu11", "-nostdlib", "-fno-builtin", "-DALLOW_DEBUG", + f"-I{ROOT}", f"-I{ROOT / 'opendbc/safety/board'}", + str(input_source), "-o", str(preprocessed_file), + ], cwd=ROOT, capture_output=True, check=True) + + txt = preprocessed_file.read_text() + + # Build line map from preprocessor directives + line_map = {} + current_map_file = None + current_map_line = None + directive_re = re.compile(r'^\s*#\s*(\d+)\s+"([^"]+)"') + for pp_line_num, pp_line in enumerate(txt.splitlines(keepends=True), start=1): + m = directive_re.match(pp_line) + if m: + current_map_line = int(m.group(1)) + current_map_file = Path(m.group(2)).resolve() + continue + if current_map_file is not None and current_map_line is not None: + line_map[pp_line_num] = (current_map_file, current_map_line) + current_map_line += 1 + + # Parse with tree-sitter + parser = ts.Parser(ts.Language(ts_c.language())) + tree = parser.parse(_prepare_for_parsing(txt).encode()) + + # Build rule map + rule_map = {} + counts = {} + for mutator, (node_kind, op_map) in MUTATOR_FAMILIES.items(): + counts[mutator] = 0 + if mutator == "boundary": + continue + for original_op, mutated_op in op_map.items(): + rule_map.setdefault((node_kind, original_op), []).append((mutator, original_op, mutated_op)) + + # Walk tree to find mutation sites + deduped = {} + build_incompatible_keys = set() + stack = [tree.root_node] + while stack: + node = stack.pop() + kind = node.type + + # Boundary mutations: find number_literals inside comparison operands + if kind == "binary_expression": + cmp_op = node.child_by_field_name("operator") + if cmp_op and cmp_op.type in COMPARISON_OPERATOR_MAP: + lit_stack = [] + for field in ("left", "right"): + operand = node.child_by_field_name(field) + if operand: + lit_stack.append(operand) + while lit_stack: + n = lit_stack.pop() + if n.type == "number_literal": + token = txt[n.start_byte:n.end_byte] + parsed = _parse_int_literal(token) + if parsed: + value, base, suffix = parsed + mutated = f"0x{value + 1:X}{suffix}" if base == "hex" else f"{value + 1}{suffix}" + line = n.start_point[0] + 1 + bsite = _RawSite(n.start_byte, n.end_byte, n.start_byte, n.end_byte, line, token, mutated, "boundary") + key = _site_key(bsite) + deduped[key] = bsite + if _is_in_constexpr_context(n): + build_incompatible_keys.add(key) + lit_stack.extend(n.children) + + # Operator mutations: any node with an operator child + op_child = node.child_by_field_name("operator") + if op_child: + for mutator, original_op, mutated_op in rule_map.get((kind, op_child.type), []): + line = node.start_point[0] + 1 + site = _RawSite(node.start_byte, node.end_byte, op_child.start_byte, op_child.end_byte, line, original_op, mutated_op, mutator) + key = _site_key(site) + deduped[key] = site + if _is_in_constexpr_context(node): + build_incompatible_keys.add(key) + + stack.extend(node.children) + + sites = sorted(deduped.values(), key=lambda s: (s.op_start, s.mutator)) + out = [] + build_incompatible_site_ids = set() + for s in sites: + mapped = line_map.get(s.line) + if mapped is None: + continue + origin_file, origin_line = mapped + if SAFETY_DIR not in origin_file.parents and origin_file != SAFETY_DIR: + continue + site_id = len(out) + site = MutationSite( + site_id=site_id, expr_start=s.expr_start, expr_end=s.expr_end, + op_start=s.op_start, op_end=s.op_end, line=s.line, + original_op=s.original_op, mutated_op=s.mutated_op, mutator=s.mutator, + origin_file=origin_file, origin_line=origin_line, + ) + if _site_key(s) in build_incompatible_keys: + build_incompatible_site_ids.add(site_id) + out.append(site) + counts[s.mutator] += 1 + return out, counts, build_incompatible_site_ids, txt + + +def _build_core_tests(catalog): + """Build test ordering for core (non-mode) files. + + One test per unique method name from evenly-spaced modules, + ordered by how widely each method is shared. Methods inherited by many + classes exercise the most fundamental safety logic and run first. + """ + MAX_PER_METHOD = 5 + method_freq = {} + method_by_module = {} + for name in sorted(catalog.keys()): + for test_id in catalog[name]: + method = test_id.rsplit(".", 1)[-1] + method_freq[method] = method_freq.get(method, 0) + 1 + if method not in method_by_module: + method_by_module[method] = {} + if name not in method_by_module[method]: + method_by_module[method][name] = test_id + # Pick evenly-spaced modules for each method to maximize configuration diversity + method_ids = {} + for method, module_map in method_by_module.items(): + modules = sorted(module_map.keys()) + n = len(modules) + if n <= MAX_PER_METHOD: + method_ids[method] = [module_map[m] for m in modules] + else: + step = n / MAX_PER_METHOD + method_ids[method] = [module_map[modules[int(i * step)]] for i in range(MAX_PER_METHOD)] + # Round-robin: first instance of each method (by freq), then second, etc. + # This ensures diverse early coverage with failfast. + sorted_methods = sorted(method_freq, key=lambda m: -method_freq[m]) + ordered = [] + for round_idx in range(MAX_PER_METHOD): + for m in sorted_methods: + ids = method_ids.get(m, []) + if round_idx < len(ids): + ordered.append(ids[round_idx]) + return ordered + + +def build_priority_tests(site, catalog, core_tests): + """Build an ordered list of test IDs for a mutation site. + + For mode files: all tests from the matching test_.py module. + For core files: uses the pre-computed core_tests ordering. + """ + src = site.origin_file + rel_parts = src.relative_to(ROOT).parts + is_mode = len(rel_parts) >= 4 and rel_parts[:3] == ("opendbc", "safety", "modes") + + if is_mode: + mode_file = f"test_{src.stem}.py" + return list(catalog.get(mode_file, [])) + return core_tests + + +def format_site_snippet(site, context_lines=2): + source = site.origin_file + text = source.read_text() + lines = text.splitlines() + display_ln = site.origin_line + line_idx = display_ln - 1 + start = max(0, line_idx - context_lines) + end = min(len(lines), line_idx + context_lines + 1) + + line_text = lines[line_idx] + rel_start = line_text.find(site.original_op) + if rel_start < 0: + rel_start = 0 + rel_end = rel_start + len(site.original_op) + + snippet_lines = [] + width = len(str(end)) + for idx in range(start, end): + num = idx + 1 + prefix = ">" if idx == line_idx else " " + line = lines[idx] + if idx == line_idx: + marker = colorize(f"[[{site.original_op}->{site.mutated_op}]]", ANSI_RED) + line = f"{line[:rel_start]}{marker}{line[rel_end:]}" + snippet_lines.append(f"{prefix} {num:>{width}} | {line}") + return "\n".join(snippet_lines) + + +def render_progress(completed, total, killed, survived, infra, elapsed_sec): + bar_width = 30 + filled = int((completed / total) * bar_width) + bar = "#" * filled + "-" * (bar_width - filled) + + rate = completed / elapsed_sec if elapsed_sec > 0 else 0.0 + remaining = total - completed + eta = (remaining / rate) if rate > 0 else 0.0 + + killed_text = colorize(f"k:{killed}", ANSI_GREEN) + survived_text = colorize(f"s:{survived}", ANSI_RED) + infra_text = colorize(f"i:{infra}", ANSI_YELLOW) + + return f"[{bar}] {completed}/{total} {killed_text} {survived_text} {infra_text} mps:{rate:.2f} elapsed:{elapsed_sec:.1f}s eta:{eta:.1f}s" + + +def print_live_status(text, *, final=False): + if sys.stdout.isatty(): + print("\r" + text, end="\n" if final else "", flush=True) + else: + print(text, flush=True) + + +def _discover_test_catalog(): + loader = unittest.TestLoader() + catalog = {} + for test_file in sorted(SAFETY_TESTS_DIR.glob("test_*.py")): + module_name = ".".join(test_file.relative_to(ROOT).with_suffix("").parts) + suite = loader.loadTestsFromName(module_name) + catalog[test_file.name] = [t.id() for group in suite for t in group] + return catalog + + +def run_unittest(targets, lib_path, mutant_id, verbose): + from opendbc.safety.tests.libsafety import libsafety_py + libsafety_py.load(lib_path) + libsafety_py.libsafety.mutation_set_active_mutant(mutant_id) + + if verbose: + print("Running unittest targets:", ", ".join(targets), flush=True) + + loader = unittest.TestLoader() + stream = io.StringIO() + runner = unittest.TextTestRunner(stream=stream, verbosity=0, failfast=True) + + suite = unittest.TestSuite() + for target in targets: + suite.addTests(loader.loadTestsFromName(target)) + result = runner.run(suite) + if result.failures: + return result.failures[0][0].id() + if result.errors: + return result.errors[0][0].id() + return None + + +def _instrument_source(source, sites): + # Sort by start ascending, end descending (outermost first when same start) + sorted_sites = sorted(sites, key=lambda s: (s.expr_start, -s.expr_end)) + + # Build containment forest using a stack + roots = [] + stack = [] + for site in sorted_sites: + while stack and stack[-1][0].expr_end <= site.expr_start: + stack.pop() + node = [site, []] + if stack: + stack[-1][1].append(node) + else: + roots.append(node) + stack.append(node) + + def build_replacement(site, children): + parts = [] + pos = site.expr_start + op_rel = None + running_len = 0 + + for child_site, child_children in children: + seg = source[pos : child_site.expr_start] + if op_rel is None and site.op_start >= pos and site.op_start < child_site.expr_start: + op_rel = running_len + (site.op_start - pos) + parts.append(seg) + running_len += len(seg) + + child_repl = build_replacement(child_site, child_children) + parts.append(child_repl) + running_len += len(child_repl) + pos = child_site.expr_end + + seg = source[pos : site.expr_end] + if op_rel is None and site.op_start >= pos: + op_rel = running_len + (site.op_start - pos) + parts.append(seg) + + expr_text = "".join(parts) + op_len = site.op_end - site.op_start + assert op_rel is not None and expr_text[op_rel : op_rel + op_len] == site.original_op, ( + f"Operator mismatch (site_id={site.site_id}): expected {site.original_op!r} at offset {op_rel}" + ) + mutated_expr = f"{expr_text[:op_rel]}{site.mutated_op}{expr_text[op_rel + op_len :]}" + return f"((__mutation_active_id == {site.site_id}) ? ({mutated_expr}) : ({expr_text}))" + + result_parts = [] + pos = 0 + for site, children in roots: + result_parts.append(source[pos : site.expr_start]) + result_parts.append(build_replacement(site, children)) + pos = site.expr_end + result_parts.append(source[pos:]) + return "".join(result_parts) + + +def compile_mutated_library(preprocessed_source, sites, output_so): + instrumented = _instrument_source(preprocessed_source, sites) + + prelude = """ + static int __mutation_active_id = -1; + void mutation_set_active_mutant(int id) { __mutation_active_id = id; } + int mutation_get_active_mutant(void) { return __mutation_active_id; } + """ + marker_re = re.compile(r'^\s*#\s+\d+\s+"[^\n]*\n?', re.MULTILINE) + instrumented = prelude + marker_re.sub("", instrumented) + + mutation_source = output_so.with_suffix(".c") + mutation_source.write_text(instrumented) + + subprocess.run([ + "cc", "-shared", "-fPIC", "-w", "-fno-builtin", "-std=gnu11", + "-g0", "-O0", "-DALLOW_DEBUG", + str(mutation_source), "-o", str(output_so), + ], cwd=ROOT, check=True) + + +def eval_mutant(site, targets, lib_path, verbose): + try: + t0 = time.perf_counter() + failed_test = run_unittest(targets, lib_path, mutant_id=site.site_id, verbose=verbose) + duration = time.perf_counter() - t0 + if failed_test is not None: + return MutantResult(site, "killed", duration, "") + return MutantResult(site, "survived", duration, "") + except Exception as exc: + return MutantResult(site, "infra_error", 0.0, str(exc)) + + +def main(): + parser = argparse.ArgumentParser(description="Run strict safety mutation") + parser.add_argument("-j", type=int, default=max((os.cpu_count() or 1) - 1, 1), help="parallel mutants to run") + parser.add_argument("--max-mutants", type=int, default=0, help="optional limit for debugging (0 means all)") + parser.add_argument("--list-only", action="store_true", help="list discovered candidates and exit") + parser.add_argument("--verbose", action="store_true", help="print extra debug output") + args = parser.parse_args() + + start = time.perf_counter() + + with tempfile.TemporaryDirectory(prefix="mutation-op-run-") as run_tmp_dir: + preprocessed_file = Path(run_tmp_dir) / "safety_preprocessed.c" + sites, mutator_counts, build_incompatible_ids, preprocessed_source = enumerate_sites(ROOT / SAFETY_C_REL, preprocessed_file) + assert len(sites) > 0 + + if args.max_mutants > 0: + sites = sites[: args.max_mutants] + + mutator_summary = ", ".join(f"{name} ({c})" for name in MUTATOR_FAMILIES if (c := mutator_counts.get(name, 0)) > 0) + print(f"Found {len(sites)} unique candidates: {mutator_summary}", flush=True) + if args.list_only: + for site in sites: + mutation = format_mutation(site.original_op, site.mutated_op) + print(f" #{site.site_id:03d} {site.origin_file.relative_to(ROOT)}:{site.origin_line} [{site.mutator}] {mutation}") + return 0 + + print(f"Running {len(sites)} mutants with {args.j} workers", flush=True) + + discovered_count = len(sites) + selected_site_ids = {s.site_id for s in sites} + build_incompatible_ids &= selected_site_ids + pruned_compile_sites = len(build_incompatible_ids) + if pruned_compile_sites > 0: + sites = [s for s in sites if s.site_id not in build_incompatible_ids] + print(f"Pruned {pruned_compile_sites} build-incompatible mutants from constant-expression initializers", flush=True) + if not sites: + print("Failed to build mutation library: all sites were pruned as build-incompatible", flush=True) + return 2 + + mutation_lib = Path(run_tmp_dir) / "libsafety_mutation.so" + compile_mutated_library(preprocessed_source, sites, mutation_lib) + + # Discover all tests by importing modules in the main process. + # Forked workers inherit these imports, eliminating per-worker import cost. + catalog = _discover_test_catalog() + + # Baseline smoke check + baseline_ids = catalog.get("test_defaults.py", [])[:5] + baseline_failed = run_unittest(baseline_ids, mutation_lib, mutant_id=-1, verbose=args.verbose) + if baseline_failed is not None: + print("Baseline smoke failed with mutant_id=-1; aborting to avoid false kill signals.", flush=True) + print(f" failed_test: {baseline_failed}", flush=True) + return 2 + + # Pre-compute test targets per mutation site + core_tests = _build_core_tests(catalog) + site_targets = {site.site_id: build_priority_tests(site, catalog, core_tests) for site in sites} + + results = [] + counts = Counter() + + with ProcessPoolExecutor(max_workers=args.j) as pool: + future_map = { + pool.submit(eval_mutant, site, site_targets[site.site_id], mutation_lib, args.verbose): site for site in sites + } + print_live_status(render_progress(0, len(sites), 0, 0, 0, 0.0)) + try: + for fut in as_completed(future_map): + try: + res = fut.result() + except Exception: + site = future_map[fut] + res = MutantResult(site, "killed", 0.0, "worker process crashed") + results.append(res) + counts[res.outcome] += 1 + elapsed_now = time.perf_counter() - start + done = len(results) == len(sites) + print_live_status(render_progress(len(results), len(sites), counts["killed"], counts["survived"], + counts["infra_error"], elapsed_now), final=done) + except Exception: + # Pool broken — mark all unfinished mutants as killed (crash = behavioral change detected) + completed_ids = {r.site.site_id for r in results} + for site in sites: + if site.site_id not in completed_ids: + results.append(MutantResult(site, "killed", 0.0, "pool broken")) + counts["killed"] += 1 + elapsed_now = time.perf_counter() - start + print_live_status(render_progress(len(results), len(sites), counts["killed"], counts["survived"], counts["infra_error"], elapsed_now), final=True) + + survivors = sorted((r for r in results if r.outcome == "survived"), key=lambda r: r.site.site_id) + if survivors: + print("", flush=True) + print(colorize("Surviving mutants", ANSI_RED), flush=True) + for res in survivors: + loc = f"{res.site.origin_file.relative_to(ROOT)}:{res.site.origin_line}" + mutation = format_mutation(res.site.original_op, res.site.mutated_op) + print(f"- #{res.site.site_id} {loc} [{res.site.mutator}] {mutation}", flush=True) + print(format_site_snippet(res.site), flush=True) + + infra_results = sorted((r for r in results if r.outcome == "infra_error"), key=lambda r: r.site.site_id) + if infra_results: + print("", flush=True) + print(colorize("Infra errors", ANSI_YELLOW), flush=True) + for res in infra_results: + loc = f"{res.site.origin_file.relative_to(ROOT)}:{res.site.origin_line}" + detail = res.details.splitlines()[0] if res.details else "unknown error" + print(f"- #{res.site.site_id} {loc}: {detail}", flush=True) + + elapsed = time.perf_counter() - start + total_test_sec = sum(r.test_sec for r in results) + print("", flush=True) + print(colorize("Mutation summary", ANSI_BOLD), flush=True) + print(f" discovered: {discovered_count}", flush=True) + print(f" pruned_build_incompatible: {pruned_compile_sites}", flush=True) + print(f" total: {len(sites)}", flush=True) + print(f" killed: {colorize(str(counts['killed']), ANSI_GREEN)}", flush=True) + print(f" survived: {colorize(str(counts['survived']), ANSI_RED)}", flush=True) + print(f" infra_error: {colorize(str(counts['infra_error']), ANSI_YELLOW)}", flush=True) + print(f" test_time_sum: {total_test_sec:.2f}s", flush=True) + print(f" avg_test_per_mutant: {total_test_sec / len(results):.3f}s", flush=True) + print(f" mutants_per_second: {len(sites) / elapsed:.2f}", flush=True) + print(f" elapsed: {elapsed:.2f}s", flush=True) + + if counts["infra_error"] > 0: + return 2 + + # TODO: fix these surviving mutants and delete this block + known_survivors = { + ("opendbc/safety/helpers.h", 40, "arithmetic"), + ("opendbc/safety/lateral.h", 105, "boundary"), + ("opendbc/safety/lateral.h", 195, "boundary"), + ("opendbc/safety/lateral.h", 239, "boundary"), + ("opendbc/safety/lateral.h", 337, "arithmetic"), + } + survivors = [r for r in survivors if (str(r.site.origin_file.relative_to(ROOT)), r.site.origin_line, r.site.mutator) not in known_survivors] + + if survivors: + return 1 + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/opendbc/safety/tests/mutation.sh b/opendbc/safety/tests/mutation.sh deleted file mode 100755 index 3a46b005..00000000 --- a/opendbc/safety/tests/mutation.sh +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/env bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -source $DIR/../../../setup.sh - -GIT_REF="${GIT_REF:-origin/master}" -GIT_ROOT=$(git rev-parse --show-toplevel) -cat > $GIT_ROOT/mull.yml </dev/null && pwd)" export PYTHONPATH=$BASEDIR # *** dependencies install *** -if [ "$(uname -s)" = "Linux" ]; 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