IQ.Pilot Release Commit @ 27f668a

iqpilot/tools/test_tools_local_route.py

@@ -40,6 +40,36 @@ def write_rlog(path: Path, n_frames: int = 200):
       f.write(msg.to_bytes())
 
 
+def write_video_rlog(path: Path, n_frames: int):
+  with open(path, "wb") as f:
+    cp = messaging.new_message('carParams')
+    cp.logMonoTime = 1_000_000_000
+    cp.carParams.carFingerprint = "TOYOTA_RAV4_TSS2"
+    cp.carParams.brand = "toyota"
+    f.write(cp.to_bytes())
+
+    for i in range(n_frames):
+      timestamp = 1_000_000_000 + i * 50_000_000
+      msg = messaging.new_message('can', 1)
+      msg.logMonoTime = timestamp
+      msg.can[0].address = 0x1D2
+      msg.can[0].src = 0
+      msg.can[0].dat = bytes([i % 256] * 8)
+      f.write(msg.to_bytes())
+
+      idx = messaging.new_message('roadEncodeIdx')
+      idx.logMonoTime = timestamp
+      idx.roadEncodeIdx.frameId = i
+      idx.roadEncodeIdx.type = 'fullHEVC'
+      idx.roadEncodeIdx.encodeId = i
+      idx.roadEncodeIdx.segmentNum = 0
+      idx.roadEncodeIdx.segmentId = i
+      idx.roadEncodeIdx.segmentIdEncode = i
+      idx.roadEncodeIdx.timestampSof = timestamp
+      idx.roadEncodeIdx.timestampEof = timestamp + 10_000_000
+      f.write(idx.to_bytes())
+
+
 @pytest.fixture(scope="module")
 def local_route(tmp_path_factory):
   data_dir = tmp_path_factory.mktemp("routes")
@@ -50,6 +80,25 @@ def local_route(tmp_path_factory):
   return data_dir
 
 
+@pytest.fixture(scope="module")
+def local_video_route(tmp_path_factory):
+  data_dir = tmp_path_factory.mktemp("video_routes")
+  seg_dir = data_dir / f"{DONGLE_ID}|{TIMESTAMP}--0"
+  seg_dir.mkdir()
+  frame_count = 20
+  result = subprocess.run([
+    "ffmpeg", "-hide_banner", "-loglevel", "error", "-f", "lavfi",
+    "-i", "testsrc=size=320x180:rate=20", "-frames:v", str(frame_count),
+    "-pix_fmt", "yuv420p", "-c:v", "libx265", "-preset", "ultrafast",
+    "-x265-params", "pools=1:frame-threads=1:log-level=error", "-f", "hevc",
+    str(seg_dir / "fcamera.hevc"),
+  ], capture_output=True, text=True)
+  if result.returncode != 0:
+    pytest.skip(result.stderr)
+  write_video_rlog(seg_dir / "rlog", frame_count)
+  return data_dir
+
+
 def run(cmd, timeout=180):
   return subprocess.run(cmd, capture_output=True, text=True, timeout=timeout, env=os.environ.copy(),
                         cwd=TOOLS_DIR.parent)
@@ -62,6 +111,33 @@ def cabana_command(*args):
   return command
 
 
+def cabana_output_until(args, expected, timeout=60):
+  master, slave = pty.openpty()
+  proc = subprocess.Popen(cabana_command(*args), stdout=slave, stderr=slave,
+                          env=os.environ.copy(), cwd=TOOLS_DIR.parent)
+  os.close(slave)
+  output = bytearray()
+  deadline = time.monotonic() + timeout
+  try:
+    while time.monotonic() < deadline:
+      ready, _, _ = select.select([master], [], [], min(1, deadline - time.monotonic()))
+      if not ready:
+        if proc.poll() is not None:
+          break
+        continue
+      try:
+        output.extend(os.read(master, 4096))
+      except OSError:
+        break
+      if expected.encode() in output:
+        break
+  finally:
+    proc.kill()
+    proc.wait()
+    os.close(master)
+  return output.decode(errors="replace")
+
+
 def test_jotpluggler_renders_a_local_route(local_route, tmp_path):
   assert JOTPLUGGLER_BIN.exists(), "jotpluggler not built"
   out = tmp_path / "plot.png"
@@ -74,38 +150,20 @@ def test_jotpluggler_renders_a_local_route(local_route, tmp_path):
 
 def test_cabana_loads_a_local_route(local_route):
   assert CABANA_BIN.exists(), "cabana not built"
-  master, slave = pty.openpty()
-  proc = subprocess.Popen(cabana_command("--data_dir", str(local_route), "--no-vipc", ROUTE),
-                          stdout=slave, stderr=slave,
-                          env=os.environ.copy(), cwd=TOOLS_DIR.parent)
-  os.close(slave)
   loaded = f"loaded route {ROUTE} with 2 valid segments"
-  output = bytearray()
-  deadline = time.monotonic() + 60
-  try:
-    while time.monotonic() < deadline:
-      ready, _, _ = select.select([master], [], [], min(1, deadline - time.monotonic()))
-      if not ready:
-        if proc.poll() is not None:
-          break
-        continue
-      try:
-        output.extend(os.read(master, 4096))
-      except OSError:
-        break
-      if loaded.encode() in output:
-        break
-  finally:
-    proc.kill()
-    proc.wait()
-    os.close(master)
-
-  out = output.decode(errors="replace")
+  out = cabana_output_until(("--data_dir", str(local_route), "--no-vipc", ROUTE), loaded)
   assert "failed to load route" not in out, out
   assert "invalid route format" not in out, out
   assert loaded in out, out
 
 
+def test_cabana_replays_local_video(local_video_route):
+  expected = "camera[0] vipc send #1"
+  out = cabana_output_until(("--data_dir", str(local_video_route), ROUTE), expected)
+  assert "failed to get frame" not in out, out
+  assert expected in out, out
+
+
 def test_replay_logreader_reports_load_stats(local_route):
   assert shutil.which("python3") is not None
   header = (TOOLS_DIR / "replay" / "logreader.h").read_text()