open source driving agent
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#!/usr/bin/env python3
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import time
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from tqdm import tqdm
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from tools.lib.logreader import LogReader
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import cereal.messaging as messaging
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ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
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NUM_SEGS = 10 # route has 82 segments available
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# Get can messages from logs
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print("Loading...")
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can_msgs = []
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for i in tqdm(list(range(1, NUM_SEGS))):
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log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
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lr = LogReader(log_url)
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can_msgs += [m for m in lr if m.which() == 'can']
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# Replay
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print("Replay...")
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can = messaging.pub_sock('can')
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while True:
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for m in tqdm(can_msgs):
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can.send(m.as_builder().to_bytes())
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time.sleep(0.01) # 100 Hz
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