regen: check if regenerated route is enabled (#24207)

* check if regenerated route is enabled

* elif

* initialize CUDA runner before all other processes

* Revert "initialize CUDA runner before all other processes"

This reverts commit 124e3dd4d3408b6649f40b3e6e7f217ca347f59f.

* add back fixes

* fix typo
old-commit-hash: 1a5ddfaedd

selfdrive/test/process_replay/process_replay.py

@@ -493,3 +493,14 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
     managed_processes[cfg.proc_name].stop()
 
   return log_msgs
+
+
+def check_enabled(msgs):
+  for msg in msgs:
+    if msg.which() == "carParams":
+      if msg.carParams.notCar:
+        return True
+    elif msg.which() == "controlsState":
+      if msg.controlsState.active:
+        return True
+  return False

selfdrive/test/process_replay/regen.py

@@ -16,7 +16,7 @@ from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, ti
 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 setup_env
+from selfdrive.test.process_replay.process_replay import setup_env, check_enabled
 from selfdrive.test.update_ci_routes import upload_route
 from tools.lib.route import Route
 from tools.lib.framereader import FrameReader
@@ -151,7 +151,7 @@ def replay_cameras(lr, frs):
 
     frames = None
     if fr is not None:
-      print(f"Decomressing frames {s}")
+      print(f"Decompressing frames {s}")
       frames = []
       for i in tqdm(range(fr.frame_count)):
         img = fr.get(i, pix_fmt='yuv420p')[0]
@@ -242,8 +242,13 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA):
 
   del vs
 
-  r = params.get("CurrentRoute", encoding='utf-8')
-  return os.path.join(outdir, r + "--0")
+  segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
+  seg_path = os.path.join(outdir, segment)
+  # check to make sure openpilot is engaged in the route
+  if not check_enabled(LogReader(os.path.join(seg_path, "rlog.bz2"))):
+    raise Exception(f"Route never enabled: {segment}")
+
+  return seg_path
 
 
 def regen_and_save(route, sidx, upload=False, use_route_meta=False):

selfdrive/test/process_replay/test_processes.py

@@ -7,7 +7,7 @@ from typing import Any
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.openpilotci import get_url
 from selfdrive.test.process_replay.compare_logs import compare_logs
-from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
+from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process, check_enabled
 from tools.lib.logreader import LogReader
 
 
@@ -68,14 +68,7 @@ def test_process(cfg, lr, cmp_log_fn, ignore_fields=None, ignore_msgs=None):
 
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
-    for msg in log_msgs:
-      if msg.which() == "carParams":
-        if msg.carParams.notCar:
-          break
-      if msg.which() == "controlsState":
-        if msg.controlsState.active:
-          break
-    else:
+    if not check_enabled(log_msgs):
       segment = cmp_log_fn.split("/")[-1].split("_")[0]
       raise Exception(f"Route never enabled: {segment}")