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test_onroad: use zstd compression #33100

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merged 9 commits into from
Jul 27, 2024
Merged

test_onroad: use zstd compression #33100

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53f05b8
use zstd in test_onroad
sshane Jul 27, 2024
b95eab5
debug
sshane Jul 27, 2024
8621ca6
now leans towards 0.4 instead of 0.5
sshane Jul 27, 2024
b9367cf
5x runs
sshane Jul 27, 2024
9c1f14b
better
sshane Jul 27, 2024
ba9bb12
more
sshane Jul 27, 2024
f609aba
Update selfdrive/test/test_onroad.py
sshane Jul 27, 2024
15ddf2e
revert Jenkinsfile
sshane Jul 27, 2024
82381e0
and this
sshane Jul 27, 2024
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116 changes: 75 additions & 41 deletions Jenkinsfile
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Original file line number Diff line number Diff line change
Expand Up @@ -176,7 +176,7 @@ node {
if (!env.BRANCH_NAME.matches(excludeRegex)) {
parallel (
// tici tests
'onroad tests': {
'onroad tests1': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
Expand All @@ -186,62 +186,96 @@ node {
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
["test manager", "pytest system/manager/test/test_manager.py"],
'onroad tests2': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
'onroad tests3': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
'onroad tests4': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'onroad tests5': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
},
'onroad tests6': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
'onroad tests7': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
},
'onroad tests8': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'replay': {
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"],
'onroad tests9': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
'onroad tests10': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},

)
}
} catch (Exception e) {
Expand Down
12 changes: 7 additions & 5 deletions selfdrive/test/test_onroad.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
import bz2
import math
import json
import os
Expand All @@ -9,6 +8,7 @@
import subprocess
import time
import numpy as np
import zstd
from collections import Counter, defaultdict
from functools import cached_property
from pathlib import Path
Expand All @@ -20,9 +20,10 @@
from openpilot.common.timeout import Timeout
from openpilot.common.params import Params
from openpilot.selfdrive.controls.lib.events import EVENTS, ET
from openpilot.system.hardware import HARDWARE
from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.hw import Paths
from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
from openpilot.tools.lib.logreader import LogReader

"""
Expand Down Expand Up @@ -166,10 +167,10 @@ def setup_class(cls):
cls.log_sizes = {}
for f in cls.log_path.iterdir():
assert f.is_file()
cls.log_sizes[f] = f.stat().st_size / 1e6
cls.log_sizes[f] = f.stat().st_size / 1e6
if f.name in ("qlog", "rlog"):
with open(f, 'rb') as ff:
cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6
cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6


@cached_property
Expand Down Expand Up @@ -203,10 +204,11 @@ def test_cloudlog_size(self):

def test_log_sizes(self):
for f, sz in self.log_sizes.items():
print('size', f, sz)
if f.name == "qcamera.ts":
assert 2.15 < sz < 2.35
elif f.name == "qlog":
assert 0.4 < sz < 0.6
assert 0.3 < sz < 0.5
elif f.name == "rlog":
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assert 5 < sz < 50
elif f.name.endswith('.hevc'):
Expand Down
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