text: #!/usr/bin/env python3
  import argparse
  import os
  import sys
  from typing import Any
  
  from selfdrive.car.car_helpers import interface_names
  from selfdrive.test.openpilotci import get_url
  from selfdrive.test.process_replay.compare_logs import compare_logs
  from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process, check_enabled
  from tools.lib.logreader import LogReader
  
  
  original_segments = [
    ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),        # COMMA.BODY
    ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
    ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
    ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
    ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
    ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
    ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
    ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA
    ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"),      # SUBARU.IMPREZA
    ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
    ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
    ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.GOLF
    ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"),       # MAZDA.CX9_2021
  
    # Enable when port is tested and dascamOnly is no longer set
    #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.AP2_MODELS
  ]
  
  segments = [
    ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
    ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
    ("TOYOTA", "fakedata|2022-01-20--17-50-51--0"),
    ("TOYOTA2", "fakedata|2022-01-20--17-52-36--0"),
    ("TOYOTA3", "fakedata|2022-01-20--17-54-50--0"),
    ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
    ("HONDA2", "fakedata|2022-01-20--17-58-25--0"),
    ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
    ("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
    ("GM", "fakedata|2022-01-20--18-03-41--0"),
    ("NISSAN", "fakedata|2022-01-20--18-05-29--0"),
    ("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"),
    ("MAZDA", "fakedata|2022-01-20--18-09-32--0"),
  ]
  
  # dashcamOnly makes don't need to be tested until a full port is done
  excluded_interfaces = ["mock", "ford", "mazda", "tesla"]
  
  BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
  
  # run the full test (including checks) when no args given
  FULL_TEST = len(sys.argv) <= 1
  
  
  def test_process(cfg, lr, cmp_log_fn, ignore_fields=None, ignore_msgs=None):
    if ignore_fields is None:
      ignore_fields = []
    if ignore_msgs is None:
      ignore_msgs = []
  
    cmp_log_path = cmp_log_fn if os.path.exists(cmp_log_fn) else BASE_URL + os.path.basename(cmp_log_fn)
    cmp_log_msgs = list(LogReader(cmp_log_path))
  
    log_msgs = replay_process(cfg, lr)
  
    # check to make sure openpilot is engaged in the route
    if cfg.proc_name == "controlsd":
      if not check_enabled(log_msgs):
        segment = cmp_log_fn.split("/")[-1].split("_")[0]
        raise Exception(f"Route never enabled: {segment}")
  
    try:
      return compare_logs(cmp_log_msgs, log_msgs, ignore_fields+cfg.ignore, ignore_msgs, cfg.tolerance)
    except Exception as e:
      return str(e)
  
  def format_diff(results, ref_commit):
    diff1, diff2 = "", ""
    diff2 += f"***** tested against commit {ref_commit} *****\n"
  
    failed = False
    for segment, result in list(results.items()):
      diff1 += f"***** results for segment {segment} *****\n"
      diff2 += f"***** differences for segment {segment} *****\n"
  
      for proc, diff in list(result.items()):
        diff1 += f"\t{proc}\n"
        diff2 += f"*** process: {proc} ***\n"
  
        if isinstance(diff, str):
          diff1 += f"\t\t{diff}\n"
          failed = True
        elif len(diff):
          cnt = {}
          for d in diff:
            diff2 += f"\t{str(d)}\n"
  
            k = str(d[1])
            cnt[k] = 1 if k not in cnt else cnt[k] + 1
  
          for k, v in sorted(cnt.items()):
            diff1 += f"\t\t{k}: {v}\n"
          failed = True
    return diff1, diff2, failed
  
  if __name__ == "__main__":
  
    parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
  
    # whitelist has precedence over blacklist in case both are defined
    parser.add_argument("--whitelist-procs", type=str, nargs="*", default=[],
                          help="Whitelist given processes from the test (e.g. controlsd)")
    parser.add_argument("--whitelist-cars", type=str, nargs="*", default=[],
                          help="Whitelist given cars from the test (e.g. HONDA)")
    parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[],
                          help="Blacklist given processes from the test (e.g. controlsd)")
    parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
                          help="Blacklist given cars from the test (e.g. HONDA)")
    parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
                          help="Extra fields or msgs to ignore (e.g. carState.events)")
    parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
                          help="Msgs to ignore (e.g. carEvents)")
    args = parser.parse_args()
  
    cars_whitelisted = len(args.whitelist_cars) > 0
    procs_whitelisted = len(args.whitelist_procs) > 0
  
    process_replay_dir = os.path.dirname(os.path.abspath(__file__))
    try:
      ref_commit = open(os.path.join(process_replay_dir, "ref_commit")).read().strip()
    except FileNotFoundError:
      print("couldn't find reference commit")
      sys.exit(1)
  
    print(f"***** testing against commit {ref_commit} *****")
  
    # check to make sure all car brands are tested
    if FULL_TEST:
      tested_cars = {c.lower() for c, _ in segments}
      untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
      assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
  
    results: Any = {}
    for car_brand, segment in segments:
      if (cars_whitelisted and car_brand.upper() not in args.whitelist_cars) or \
         (not cars_whitelisted and car_brand.upper() in args.blacklist_cars):
        continue
  
      print(f"***** testing route segment {segment} *****\n")
  
      results[segment] = {}
  
      r, n = segment.rsplit("--", 1)
      lr = LogReader(get_url(r, n))
  
      for cfg in CONFIGS:
        if (procs_whitelisted and cfg.proc_name not in args.whitelist_procs) or \
           (not procs_whitelisted and cfg.proc_name in args.blacklist_procs):
          continue
  
        cmp_log_fn = os.path.join(process_replay_dir, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
        results[segment][cfg.proc_name] = test_process(cfg, lr, cmp_log_fn, args.ignore_fields, args.ignore_msgs)
  
    diff1, diff2, failed = format_diff(results, ref_commit)
    with open(os.path.join(process_replay_dir, "diff.txt"), "w") as f:
      f.write(diff2)
    print(diff1)
  
    if failed:
      print("TEST FAILED")
      print("\n\nTo update the reference logs for this test run:")
      print("./update_refs.py")
    else:
      print("TEST SUCCEEDED")
  
    sys.exit(int(failed))
  