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109 lines
3.4 KiB
109 lines
3.4 KiB
from collections import defaultdict
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from cereal import messaging
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from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
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def migrate_all(lr, old_logtime=False, camera_states=False):
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msgs = migrate_sensorEvents(lr, old_logtime)
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msgs = migrate_carParams(msgs, old_logtime)
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if camera_states:
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msgs = migrate_cameraStates(msgs)
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return msgs
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def migrate_cameraStates(lr):
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all_msgs = []
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frame_to_encode_id = defaultdict(dict)
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for msg in lr:
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if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
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continue
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encode_index = getattr(msg, msg.which())
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meta = meta_from_encode_index(msg.which())
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assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
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frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
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for msg in lr:
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if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
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all_msgs.append(msg)
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continue
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camera_state = getattr(msg, msg.which())
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encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
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if encode_id is None:
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print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
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continue
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new_msg = messaging.new_message(msg.which())
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new_camera_state = getattr(new_msg, new_msg.which())
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new_camera_state.frameId = encode_id
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new_camera_state.encodeId = encode_id
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new_camera_state.timestampSof = camera_state.timestampSof
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new_camera_state.timestampEof = camera_state.timestampEof
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new_msg.logMonoTime = msg.logMonoTime
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new_msg.valid = msg.valid
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all_msgs.append(new_msg.as_reader())
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return all_msgs
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def migrate_carParams(lr, old_logtime=False):
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all_msgs = []
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for msg in lr:
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if msg.which() == 'carParams':
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CP = messaging.new_message('carParams')
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CP.carParams = msg.carParams.as_builder()
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for car_fw in CP.carParams.carFw:
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car_fw.brand = CP.carParams.carName
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if old_logtime:
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CP.logMonoTime = msg.logMonoTime
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msg = CP.as_reader()
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all_msgs.append(msg)
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return all_msgs
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def migrate_sensorEvents(lr, old_logtime=False):
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all_msgs = []
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for msg in lr:
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if msg.which() != 'sensorEventsDEPRECATED':
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all_msgs.append(msg)
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continue
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# migrate to split sensor events
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for evt in msg.sensorEventsDEPRECATED:
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# build new message for each sensor type
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sensor_service = ''
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if evt.which() == 'acceleration':
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sensor_service = 'accelerometer'
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elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
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sensor_service = 'gyroscope'
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elif evt.which() == 'light' or evt.which() == 'proximity':
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sensor_service = 'lightSensor'
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elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
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sensor_service = 'magnetometer'
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elif evt.which() == 'temperature':
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sensor_service = 'temperatureSensor'
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m = messaging.new_message(sensor_service)
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m.valid = True
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if old_logtime:
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m.logMonoTime = msg.logMonoTime
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m_dat = getattr(m, sensor_service)
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m_dat.version = evt.version
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m_dat.sensor = evt.sensor
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m_dat.type = evt.type
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m_dat.source = evt.source
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if old_logtime:
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m_dat.timestamp = evt.timestamp
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setattr(m_dat, evt.which(), getattr(evt, evt.which()))
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all_msgs.append(m.as_reader())
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return all_msgs
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