You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
140 lines
4.2 KiB
140 lines
4.2 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import sys
|
|
import time
|
|
from typing import Any
|
|
|
|
from tqdm import tqdm
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal import log
|
|
from common.spinner import Spinner
|
|
from common.timeout import Timeout
|
|
from common.transformations.camera import get_view_frame_from_road_frame
|
|
from selfdrive.manager.process_config import managed_processes
|
|
from selfdrive.test.openpilotci import BASE_URL, get_url
|
|
from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
|
|
from selfdrive.test.process_replay.test_processes import format_diff
|
|
from selfdrive.version import get_git_commit
|
|
from tools.lib.framereader import FrameReader
|
|
from tools.lib.logreader import LogReader
|
|
|
|
TEST_ROUTE = "99c94dc769b5d96e|2019-08-03--14-19-59"
|
|
|
|
|
|
def replace_calib(msg, calib):
|
|
msg = msg.as_builder()
|
|
if calib is not None:
|
|
msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist()
|
|
return msg
|
|
|
|
|
|
def camera_replay(lr, fr, desire=None, calib=None):
|
|
|
|
spinner = Spinner()
|
|
spinner.update("starting model replay")
|
|
|
|
pm = messaging.PubMaster(['roadCameraState', 'liveCalibration', 'lateralPlan'])
|
|
sm = messaging.SubMaster(['modelV2'])
|
|
|
|
# TODO: add dmonitoringmodeld
|
|
print("preparing procs")
|
|
managed_processes['camerad'].prepare()
|
|
managed_processes['modeld'].prepare()
|
|
try:
|
|
print("starting procs")
|
|
managed_processes['camerad'].start()
|
|
managed_processes['modeld'].start()
|
|
time.sleep(5)
|
|
sm.update(1000)
|
|
print("procs started")
|
|
|
|
desires_by_index = {v:k for k,v in log.LateralPlan.Desire.schema.enumerants.items()}
|
|
|
|
cal = [msg for msg in lr if msg.which() == "liveCalibration"]
|
|
for msg in cal[:5]:
|
|
pm.send(msg.which(), replace_calib(msg, calib))
|
|
|
|
log_msgs = []
|
|
frame_idx = 0
|
|
for msg in tqdm(lr):
|
|
if msg.which() == "liveCalibration":
|
|
pm.send(msg.which(), replace_calib(msg, calib))
|
|
elif msg.which() == "roadCameraState":
|
|
if desire is not None:
|
|
for i in desire[frame_idx].nonzero()[0]:
|
|
dat = messaging.new_message('lateralPlan')
|
|
dat.lateralPlan.desire = desires_by_index[i]
|
|
pm.send('lateralPlan', dat)
|
|
|
|
f = msg.as_builder()
|
|
img = fr.get(frame_idx, pix_fmt="rgb24")[0][:,:,::-1]
|
|
f.roadCameraState.image = img.flatten().tobytes()
|
|
frame_idx += 1
|
|
|
|
pm.send(msg.which(), f)
|
|
with Timeout(seconds=15):
|
|
log_msgs.append(messaging.recv_one(sm.sock['modelV2']))
|
|
|
|
spinner.update("modeld replay %d/%d" % (frame_idx, fr.frame_count))
|
|
|
|
if frame_idx >= fr.frame_count:
|
|
break
|
|
except KeyboardInterrupt:
|
|
pass
|
|
|
|
print("replay done")
|
|
spinner.close()
|
|
managed_processes['modeld'].stop()
|
|
time.sleep(2)
|
|
managed_processes['camerad'].stop()
|
|
return log_msgs
|
|
|
|
if __name__ == "__main__":
|
|
|
|
update = "--update" in sys.argv
|
|
|
|
replay_dir = os.path.dirname(os.path.abspath(__file__))
|
|
ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
|
|
|
|
lr = LogReader(get_url(TEST_ROUTE, 0))
|
|
fr = FrameReader(get_url(TEST_ROUTE, 0, log_type="fcamera"))
|
|
|
|
log_msgs = camera_replay(list(lr), fr)
|
|
|
|
failed = False
|
|
if not update:
|
|
ref_commit = open(ref_commit_fn).read().strip()
|
|
log_fn = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", ref_commit)
|
|
cmp_log = LogReader(BASE_URL + log_fn)
|
|
|
|
ignore = ['logMonoTime', 'valid',
|
|
'modelV2.frameDropPerc',
|
|
'modelV2.modelExecutionTime']
|
|
results: Any = {TEST_ROUTE: {}}
|
|
results[TEST_ROUTE]["modeld"] = compare_logs(cmp_log, log_msgs, ignore_fields=ignore)
|
|
diff1, diff2, failed = format_diff(results, ref_commit)
|
|
|
|
print(diff1)
|
|
with open("model_diff.txt", "w") as f:
|
|
f.write(diff2)
|
|
|
|
if update or failed:
|
|
from selfdrive.test.openpilotci import upload_file
|
|
|
|
print("Uploading new refs")
|
|
|
|
new_commit = get_git_commit()
|
|
log_fn = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", new_commit)
|
|
save_log(log_fn, log_msgs)
|
|
try:
|
|
upload_file(log_fn, os.path.basename(log_fn))
|
|
except Exception as e:
|
|
print("failed to upload", e)
|
|
|
|
with open(ref_commit_fn, 'w') as f:
|
|
f.write(str(new_commit))
|
|
|
|
print("\n\nNew ref commit: ", new_commit)
|
|
|
|
sys.exit(int(failed))
|
|
|