process replay: clean up common code (#24855)

* regen and process replay clean up

* test_fuzzy actually uses fingerprint hardcoding

fix

* revert

* revert

* this can be a url or path so just print full variable

selfdrive/test/process_replay/process_replay.py

@@ -347,7 +347,7 @@ def replay_process(cfg, lr, fingerprint=None):
     else:
       return cpp_replay_process(cfg, lr, fingerprint)
 
-def setup_env(simulation=False):
+def setup_env(simulation=False, CP=None):
   params = Params()
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
@@ -358,12 +358,22 @@ def setup_env(simulation=False):
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"
+  os.environ['SKIP_FW_QUERY'] = ""
+  os.environ['FINGERPRINT'] = ""
 
   if simulation:
     os.environ["SIMULATION"] = "1"
   elif "SIMULATION" in os.environ:
     del os.environ["SIMULATION"]
 
+  # Regen or python process
+  if CP is not None:
+    if CP.fingerprintSource == "fw" and CP.carFingerprint in FW_VERSIONS:
+      params.put("CarParamsCache", CP.as_builder().to_bytes())
+    else:
+      os.environ['SKIP_FW_QUERY'] = "1"
+      os.environ['FINGERPRINT'] = CP.carFingerprint
+
 def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
@@ -378,30 +388,13 @@ def python_replay_process(cfg, lr, fingerprint=None):
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
 
-  setup_env()
-
-  # TODO: remove after getting new route for civic & accord
-  migration = {
-    "HONDA CIVIC 2016 TOURING": "HONDA CIVIC 2016",
-    "HONDA ACCORD 2018 SPORT 2T": "HONDA ACCORD 2018",
-    "HONDA ACCORD 2T 2018": "HONDA ACCORD 2018",
-    "Mazda CX-9 2021": "MAZDA CX-9 2021",
-  }
-
   if fingerprint is not None:
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = fingerprint
+    setup_env()
   else:
-    os.environ['SKIP_FW_QUERY'] = ""
-    os.environ['FINGERPRINT'] = ""
-    for msg in lr:
-      if msg.which() == 'carParams':
-        car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
-        if msg.carParams.fingerprintSource == "fw" and (car_fingerprint in FW_VERSIONS):
-          Params().put("CarParamsCache", msg.carParams.as_builder().to_bytes())
-        else:
-          os.environ['SKIP_FW_QUERY'] = "1"
-          os.environ['FINGERPRINT'] = car_fingerprint
+    CP = [m for m in lr if m.which() == 'carParams'][0].carParams
+    setup_env(CP=CP)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()

selfdrive/test/process_replay/regen.py

@@ -15,7 +15,6 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.params import Params
 from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot
 from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size
-from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled
@@ -181,28 +180,12 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   if frs is None:
     frs = dict()
 
-  setup_env()
   params = Params()
-
   os.environ["LOG_ROOT"] = outdir
-  os.environ['SKIP_FW_QUERY'] = ""
-  os.environ['FINGERPRINT'] = ""
-
-  # TODO: remove after getting new route for Mazda
-  fp_migration = {
-    "Mazda CX-9 2021": "MAZDA CX-9 2021",
-  }
-  # TODO: remove after getting new route for Subaru
-  fingerprint_problem = ["SUBARU IMPREZA LIMITED 2019"]
 
   for msg in lr:
     if msg.which() == 'carParams':
-      car_fingerprint = fp_migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
-      if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS) and (car_fingerprint not in fingerprint_problem):
-        params.put("CarParamsCache", msg.carParams.as_builder().to_bytes())
-      else:
-        os.environ['SKIP_FW_QUERY'] = "1"
-        os.environ['FINGERPRINT'] = car_fingerprint
+      setup_env(CP=msg.carParams)
     elif msg.which() == 'liveCalibration':
       params.put("CalibrationParams", msg.as_builder().to_bytes())
 

selfdrive/test/process_replay/regen_all.py

@@ -8,26 +8,28 @@ from tqdm import tqdm
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from selfdrive.test.process_replay.regen import regen_and_save
 from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segments as segments
+from tools.lib.route import SegmentName
 
-def regen_job(segment):
+
+def regen_job(segment, disable_tqdm):
   with OpenpilotPrefix():
-    route = segment[1].rsplit('--', 1)[0]
-    sidx = int(segment[1].rsplit('--', 1)[1])
-    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for i in range(11))
+    sn = SegmentName(segment[1])
+    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
     try:
-      relr = regen_and_save(route, sidx, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=True)
+      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
       relr = '|'.join(relr.split('/')[-2:])
       return f'  ("{segment[0]}", "{relr}"), '
     except Exception as e:
       return f"  {segment} failed: {str(e)}"
 
+
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("-j", "--jobs", type=int, default=1)
   args = parser.parse_args()
 
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = list(pool.map(regen_job, segments))
+    p = list(pool.map(regen_job, segments, [args.jobs > 1] * args.jobs))
     msg = "Copy these new segments into test_processes.py:"
     for seg in tqdm(p, desc="Generating segments"):
       msg += "\n" + str(seg)

selfdrive/test/process_replay/test_processes.py

@@ -93,8 +93,7 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
     if not check_enabled(log_msgs):
-      segment = os.path.basename(ref_log_path).split("/")[-1].split("_")[0]
-      raise Exception(f"Route never enabled: {segment}")
+      raise Exception(f"Route never enabled: {ref_log_path}")
 
   try:
     return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs