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@ -52,7 +52,7 @@ class ReplayContext: |
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self.main_pub_drained = cfg.main_pub_drained |
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self.main_pub_drained = cfg.main_pub_drained |
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self.unlocked_pubs = cfg.unlocked_pubs |
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self.unlocked_pubs = cfg.unlocked_pubs |
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assert(len(self.pubs) != 0 or self.main_pub is not None) |
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assert(len(self.pubs) != 0 or self.main_pub is not None) |
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def __enter__(self): |
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def __enter__(self): |
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self.open() |
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self.open() |
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@ -82,7 +82,7 @@ class ReplayContext: |
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@property |
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@property |
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def all_recv_called_events(self): |
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def all_recv_called_events(self): |
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return [man.recv_called_event for man in self.events.values()] |
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return [man.recv_called_event for man in self.events.values()] |
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@property |
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@property |
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def all_recv_ready_events(self): |
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def all_recv_ready_events(self): |
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return [man.recv_ready_event for man in self.events.values()] |
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return [man.recv_ready_event for man in self.events.values()] |
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@ -142,7 +142,7 @@ class ProcessContainer: |
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self.cnt = 0 |
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self.cnt = 0 |
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self.pm: Optional[messaging.PubMaster] = None |
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self.pm: Optional[messaging.PubMaster] = None |
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self.sockets: Optional[List[messaging.SubSocket]] = None |
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self.sockets: Optional[List[messaging.SubSocket]] = None |
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self.rc: Optional[ReplayContext] = None |
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self.rc: Optional[ReplayContext] = None |
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self.vipc_server: Optional[VisionIpcServer] = None |
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self.vipc_server: Optional[VisionIpcServer] = None |
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self.capture: Optional[ProcessOutputCapture] = None |
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self.capture: Optional[ProcessOutputCapture] = None |
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@ -199,8 +199,8 @@ class ProcessContainer: |
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self.process.start() |
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self.process.start() |
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def start( |
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def start( |
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self, params_config: Dict[str, Any], environ_config: Dict[str, Any], |
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self, params_config: Dict[str, Any], environ_config: Dict[str, Any], |
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all_msgs: Union[LogReader, List[capnp._DynamicStructReader]], |
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all_msgs: Union[LogReader, List[capnp._DynamicStructReader]], |
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fingerprint: Optional[str], capture_output: bool |
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fingerprint: Optional[str], capture_output: bool |
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): |
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): |
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with self.prefix as p: |
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with self.prefix as p: |
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@ -335,7 +335,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): |
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def controlsd_rcv_callback(msg, cfg, frame): |
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def controlsd_rcv_callback(msg, cfg, frame): |
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# no sendcan until controlsd is initialized |
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# no sendcan until controlsd is initialized |
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if msg.which() != "can": |
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if msg.which() != "can": |
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return False |
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return False |
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socks = [ |
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socks = [ |
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s for s in cfg.subs if |
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s for s in cfg.subs if |
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@ -406,7 +406,7 @@ class FrequencyBasedRcvCallback: |
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if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0 |
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if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0 |
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] |
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] |
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return bool(len(resp_sockets)) |
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return bool(len(resp_sockets)) |
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def controlsd_config_callback(params, cfg, lr): |
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def controlsd_config_callback(params, cfg, lr): |
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controlsState = None |
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controlsState = None |
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@ -436,7 +436,7 @@ def laikad_config_pubsub_callback(params, cfg, lr): |
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def locationd_config_pubsub_callback(params, cfg, lr): |
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def locationd_config_pubsub_callback(params, cfg, lr): |
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ublox = params.get_bool("UbloxAvailable") |
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ublox = params.get_bool("UbloxAvailable") |
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sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) |
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sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) |
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cfg.pubs = set(cfg.pubs) - sub_keys |
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cfg.pubs = set(cfg.pubs) - sub_keys |
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@ -494,7 +494,7 @@ CONFIGS = [ |
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ProcessConfig( |
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ProcessConfig( |
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proc_name="locationd", |
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proc_name="locationd", |
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pubs=[ |
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pubs=[ |
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"cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", |
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"cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", |
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"liveCalibration", "carState", "carParams", "gpsLocation" |
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"liveCalibration", "carState", "carParams", "gpsLocation" |
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], |
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], |
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subs=["liveLocationKalman"], |
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subs=["liveLocationKalman"], |
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@ -576,7 +576,7 @@ def get_process_config(name: str) -> ProcessConfig: |
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def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]: |
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def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]: |
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""" |
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""" |
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Use this to get custom params dict based on provided logs. |
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Use this to get custom params dict based on provided logs. |
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Useful when replaying following processes: calibrationd, paramsd, torqued |
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Useful when replaying following processes: calibrationd, paramsd, torqued |
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The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs. |
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The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs. |
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""" |
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""" |
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@ -618,7 +618,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReade |
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def replay_process( |
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def replay_process( |
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cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, |
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cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, |
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fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, |
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fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, |
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captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False |
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captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False |
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) -> List[capnp._DynamicStructReader]: |
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) -> List[capnp._DynamicStructReader]: |
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@ -658,7 +658,7 @@ def _replay_multi_process( |
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for cfg in cfgs: |
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for cfg in cfgs: |
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if len(cfg.vision_pubs) == 0: |
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if len(cfg.vision_pubs) == 0: |
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continue |
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continue |
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assert frs is not None, "frs must be provided when replaying process using vision streams" |
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assert frs is not None, "frs must be provided when replaying process using vision streams" |
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assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}" |
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assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}" |
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assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}" |
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assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}" |
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@ -719,7 +719,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non |
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"DisengageOnAccelerator": True, |
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"DisengageOnAccelerator": True, |
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"DisableLogging": False, |
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"DisableLogging": False, |
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} |
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} |
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if custom_params is not None: |
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if custom_params is not None: |
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params_dict.update(custom_params) |
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params_dict.update(custom_params) |
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if lr is not None: |
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if lr is not None: |
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@ -766,7 +766,7 @@ def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str |
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else: |
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else: |
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environ_dict["SKIP_FW_QUERY"] = "" |
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environ_dict["SKIP_FW_QUERY"] = "" |
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environ_dict["FINGERPRINT"] = "" |
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environ_dict["FINGERPRINT"] = "" |
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return environ_dict |
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return environ_dict |
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Justin Newberry
2 years ago
committed by
GitHub