IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/tools/test_tools_local_route.py

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+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import os
+import pty
+import select
+import shutil
+import subprocess
+import time
+from pathlib import Path
+
+import pytest
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.cereal import log
+
+TOOLS_DIR = Path(__file__).parent
+CABANA_BIN = TOOLS_DIR / "cabana" / "_cabana"
+JOTPLUGGLER_BIN = TOOLS_DIR / "jotpluggler" / "jotpluggler"
+
+DONGLE_ID = "0000000000000000"
+TIMESTAMP = "2024-01-01--00-00-00"
+ROUTE = f"{DONGLE_ID}|{TIMESTAMP}"
+
+
+def write_rlog(path: Path, n_frames: int = 200):
+  with open(path, "wb") as f:
+    cp = messaging.new_message('carParams')
+    cp.carParams.carFingerprint = "TOYOTA_RAV4_TSS2"
+    cp.carParams.brand = "toyota"
+    f.write(cp.to_bytes())
+
+    for i in range(n_frames):
+      msg = messaging.new_message('can', 2)
+      msg.logMonoTime = int(i * 1e7)
+      for j, addr in enumerate((0x1D2, 0x260)):
+        msg.can[j].address = addr
+        msg.can[j].src = 0
+        msg.can[j].dat = bytes([i % 256] * 8)
+      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")
+  for seg in range(2):
+    seg_dir = data_dir / f"{DONGLE_ID}|{TIMESTAMP}--{seg}"
+    seg_dir.mkdir()
+    write_rlog(seg_dir / "rlog")
+  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)
+
+
+def cabana_command(*args):
+  command = [str(CABANA_BIN), *args]
+  if os.uname().sysname == "Linux" and shutil.which("xvfb-run"):
+    command = ["xvfb-run", "-a", *command]
+  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"
+  result = run([str(JOTPLUGGLER_BIN), "--data-dir", str(local_route),
+                "--sync-load", "--output", str(out), ROUTE])
+  assert result.returncode == 0, result.stdout + result.stderr
+  assert out.is_file(), result.stdout + result.stderr
+  assert out.stat().st_size > 5000, f"suspiciously small render: {out.stat().st_size} bytes"
+
+
+def test_cabana_loads_a_local_route(local_route):
+  assert CABANA_BIN.exists(), "cabana not built"
+  loaded = f"loaded route {ROUTE} with 2 valid segments"
+  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()
+  for accessor in ("compressed_size", "decompressed_size", "download_seconds",
+                   "decompress_seconds", "parse_seconds"):
+    assert f"{accessor}() const" in header
+
+
+def test_can_capnp_field_matches_extractor_codegen():
+  assert 'busTimeDEPRECATED' in log.CanData.schema.fields
+  gen = (TOOLS_DIR / "jotpluggler" / "generate_event_extractors.py").read_text()
+  assert "getBusTimeDEPRECATED()" in gen