33 lines
1.5 KiB
Python
Executable File
33 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import argparse
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from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
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from openpilot.selfdrive.test.process_replay.test_processes import EXCLUDED_PROCS
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from openpilot.tools.lib.logreader import LogReader, save_log
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ALLOW_PROCS = {c.proc_name for c in CONFIGS}
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Run process on route and create new logs",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("route", help="The route name to use")
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parser.add_argument("--fingerprint", help="The fingerprint to use")
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parser.add_argument("--whitelist-procs", nargs='*', default=ALLOW_PROCS, help="Whitelist given processes (e.g. controlsd)")
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parser.add_argument("--blacklist-procs", nargs='*', default=EXCLUDED_PROCS, help="Blacklist given processes (e.g. controlsd)")
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args = parser.parse_args()
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allowed_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
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cfgs = [c for c in CONFIGS if c.proc_name in allowed_procs]
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inputs = list(LogReader(args.route))
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outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)
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# Remove message generated by the process under test and merge in the new messages
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produces = {o.which() for o in outputs}
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inputs = [i for i in inputs if i.which() not in produces]
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outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
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fn = f"{args.route.replace('/', '_')}_{'_'.join(allowed_procs)}.zst"
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print(f"Saving log to {fn}")
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save_log(fn, outputs)
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