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210 lines
7.1 KiB
210 lines
7.1 KiB
#!/usr/bin/env python3
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import os
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import sys
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import time
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from collections import defaultdict
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from typing import Any
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from itertools import zip_longest
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import cereal.messaging as messaging
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from cereal.visionipc import VisionIpcServer, VisionStreamType
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from common.spinner import Spinner
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from common.timeout import Timeout
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from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size
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from system.hardware import PC
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from selfdrive.manager.process_config import managed_processes
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from selfdrive.test.openpilotci import BASE_URL, get_url
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from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
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from selfdrive.test.process_replay.test_processes import format_diff
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from system.version import get_commit
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from tools.lib.framereader import FrameReader
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from tools.lib.logreader import LogReader
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TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
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SEGMENT = 0
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MAX_FRAMES = 20 if PC else 1300
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SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
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VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
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"wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
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def get_log_fn(ref_commit, test_route):
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return f"{test_route}_model_tici_{ref_commit}.bz2"
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def replace_calib(msg, calib):
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msg = msg.as_builder()
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if calib is not None:
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msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist()
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return msg
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def model_replay(lr, frs):
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if not PC:
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spinner = Spinner()
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spinner.update("starting model replay")
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else:
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spinner = None
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vipc_server = VisionIpcServer("camerad")
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vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size))
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vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size))
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vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
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vipc_server.start_listener()
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sm = messaging.SubMaster(['modelV2', 'driverState'])
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pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
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try:
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managed_processes['modeld'].start()
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managed_processes['dmonitoringmodeld'].start()
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time.sleep(5)
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sm.update(1000)
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log_msgs = []
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last_desire = None
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recv_cnt = defaultdict(int)
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frame_idxs = defaultdict(int)
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# init modeld with valid calibration
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cal_msgs = [msg for msg in lr if msg.which() == "liveCalibration"]
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for _ in range(5):
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pm.send(cal_msgs[0].which(), cal_msgs[0].as_builder())
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time.sleep(0.1)
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msgs = defaultdict(list)
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for msg in lr:
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msgs[msg.which()].append(msg)
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for cam_msgs in zip_longest(msgs['roadCameraState'], msgs['wideRoadCameraState'], msgs['driverCameraState']):
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# need a pair of road/wide msgs
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if None in (cam_msgs[0], cam_msgs[1]):
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break
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for msg in cam_msgs:
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if msg is None:
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continue
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if SEND_EXTRA_INPUTS:
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if msg.which() == "liveCalibration":
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last_calib = list(msg.liveCalibration.rpyCalib)
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pm.send(msg.which(), replace_calib(msg, last_calib))
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elif msg.which() == "lateralPlan":
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last_desire = msg.lateralPlan.desire
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dat = messaging.new_message('lateralPlan')
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dat.lateralPlan.desire = last_desire
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pm.send('lateralPlan', dat)
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if msg.which() in VIPC_STREAM:
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msg = msg.as_builder()
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camera_state = getattr(msg, msg.which())
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img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="nv12")[0]
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frame_idxs[msg.which()] += 1
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# send camera state and frame
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camera_state.frameId = frame_idxs[msg.which()]
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pm.send(msg.which(), msg)
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vipc_server.send(VIPC_STREAM[msg.which()], img.flatten().tobytes(), camera_state.frameId,
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camera_state.timestampSof, camera_state.timestampEof)
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recv = None
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if msg.which() in ('roadCameraState', 'wideRoadCameraState'):
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if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
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recv = "modelV2"
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elif msg.which() == 'driverCameraState':
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recv = "driverState"
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# wait for a response
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with Timeout(15, f"timed out waiting for {recv}"):
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if recv:
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recv_cnt[recv] += 1
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log_msgs.append(messaging.recv_one(sm.sock[recv]))
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if spinner:
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spinner.update("replaying models: road %d/%d, driver %d/%d" % (frame_idxs['roadCameraState'],
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frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count))
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if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()) or frame_idxs['roadCameraState'] == MAX_FRAMES:
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break
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else:
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print(f'Received {frame_idxs["roadCameraState"]} frames')
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finally:
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if spinner:
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spinner.close()
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managed_processes['modeld'].stop()
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managed_processes['dmonitoringmodeld'].stop()
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return log_msgs
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if __name__ == "__main__":
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update = "--update" in sys.argv
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replay_dir = os.path.dirname(os.path.abspath(__file__))
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ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
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# load logs
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lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT)))
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frs = {
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'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")),
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'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")),
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'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"))
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}
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# run replay
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log_msgs = model_replay(lr, frs)
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# get diff
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failed = False
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if not update:
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with open(ref_commit_fn) as f:
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ref_commit = f.read().strip()
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log_fn = get_log_fn(ref_commit, TEST_ROUTE)
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try:
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cmp_log = list(LogReader(BASE_URL + log_fn))[:2*MAX_FRAMES]
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ignore = [
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'logMonoTime',
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'modelV2.frameDropPerc',
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'modelV2.modelExecutionTime',
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'driverState.modelExecutionTime',
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'driverState.dspExecutionTime'
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]
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# TODO this tolerence is absurdly large
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tolerance = 5e-1 if PC else None
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results: Any = {TEST_ROUTE: {}}
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results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
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diff1, diff2, failed = format_diff(results, ref_commit)
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print(diff2)
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print('-------------\n'*5)
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print(diff1)
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with open("model_diff.txt", "w") as f:
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f.write(diff2)
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except Exception as e:
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print(str(e))
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failed = True
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# upload new refs
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if (update or failed) and not PC:
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from selfdrive.test.openpilotci import upload_file
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print("Uploading new refs")
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new_commit = get_commit()
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log_fn = get_log_fn(new_commit, TEST_ROUTE)
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save_log(log_fn, log_msgs)
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try:
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upload_file(log_fn, os.path.basename(log_fn))
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except Exception as e:
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print("failed to upload", e)
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with open(ref_commit_fn, 'w') as f:
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f.write(str(new_commit))
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print("\n\nNew ref commit: ", new_commit)
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sys.exit(int(failed))
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