119 lines
5.1 KiB
Python
Executable File
119 lines
5.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import argparse
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import time
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import capnp
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from typing import Any
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from collections.abc import Iterable
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from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
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check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
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from openpilot.selfdrive.test.update_ci_routes import upload_route
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from openpilot.tools.lib.framereader import FrameReader
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from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
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from openpilot.tools.lib.openpilotci import get_url
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def regen_segment(
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lr: LogIterable, frs: dict[str, Any] = None,
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processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
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) -> list[capnp._DynamicStructReader]:
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all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
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custom_params = get_custom_params_from_lr(all_msgs)
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print("Replayed processes:", [p.proc_name for p in processes])
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print("\n\n", "*"*30, "\n\n", sep="")
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output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
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return output_logs
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def setup_data_readers(
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route: str, sidx: int, needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
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) -> tuple[LogReader, dict[str, Any]]:
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lr = LogReader(f"{route}/{sidx}/r")
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frs = {}
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if needs_road_cam:
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frs['roadCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc"))
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if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
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frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
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if needs_driver_cam:
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if dummy_driver_cam:
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frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy
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else:
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device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
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assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
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frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "dcamera.hevc"))
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return lr, frs
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def regen_and_save(
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route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA,
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upload: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
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) -> str:
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if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
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raise ValueError("whitelist_proc must be a string or iterable")
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if processes != "all":
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if isinstance(processes, str):
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raise ValueError(f"Invalid value for processes: {processes}")
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replayed_processes = []
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for d in processes:
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cfg = get_process_config(d)
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replayed_processes.append(cfg)
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else:
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replayed_processes = CONFIGS
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all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
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lr, frs = setup_data_readers(route, sidx,
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needs_driver_cam="driverCameraState" in all_vision_pubs,
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needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
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dummy_driver_cam=dummy_driver_cam)
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output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
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log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
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rel_log_dir = os.path.relpath(log_dir)
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rpath = os.path.join(log_dir, "rlog.zst")
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os.makedirs(log_dir)
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save_log(rpath, output_logs, compress=True)
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print("\n\n", "*"*30, "\n\n", sep="")
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print("New route:", rel_log_dir, "\n")
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if not check_openpilot_enabled(output_logs):
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raise Exception("Route did not engage for long enough")
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if not check_most_messages_valid(output_logs):
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raise Exception("Route has too many invalid messages")
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if upload:
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upload_route(rel_log_dir)
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return rel_log_dir
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if __name__ == "__main__":
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def comma_separated_list(string):
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return string.split(",")
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all_procs = [p.proc_name for p in CONFIGS]
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parser = argparse.ArgumentParser(description="Generate new segments from old ones")
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parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
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parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
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parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
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parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
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help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
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parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
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help="Comma-separated blacklist of processes to regen (e.g. controlsd,radard)")
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parser.add_argument("route", type=str, help="The source route")
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parser.add_argument("seg", type=int, help="Segment in source route")
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args = parser.parse_args()
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blacklist_set = set(args.blacklist_procs)
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processes = [p for p in args.whitelist_procs if p not in blacklist_set]
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regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)
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