process_replay: migrate cameraStates of segments without driverEncodeIdx (#30331)

Migrate camera states of segments without driverEncodeIdx
old-commit-hash: 21715d7f81

selfdrive/test/process_replay/migration.py

@@ -94,6 +94,8 @@ def migrate_peripheralState(lr):
 def migrate_cameraStates(lr):
   all_msgs = []
   frame_to_encode_id = defaultdict(dict)
+  # just for encodeId fallback mechanism
+  min_frame_id = defaultdict(lambda: float('inf'))
 
   for msg in lr:
     if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
@@ -111,10 +113,18 @@ def migrate_cameraStates(lr):
       continue
 
     camera_state = getattr(msg, msg.which())
+    min_frame_id[msg.which()] = min(min_frame_id[msg.which()], camera_state.frameId)
+
     encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
     if encode_id is None:
       print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
-      continue
+      if len(frame_to_encode_id[msg.which()]) != 0:
+        continue
+
+      # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
+      # try to fake encode_id by subtracting lowest frameId
+      encode_id = camera_state.frameId - min_frame_id[msg.which()]
+      print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}")
 
     new_msg = messaging.new_message(msg.which())
     new_camera_state = getattr(new_msg, new_msg.which())