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.
50 lines
1.3 KiB
50 lines
1.3 KiB
5 years ago
|
#!/usr/bin/env python3
|
||
|
|
|
||
|
|
import os
|
||
|
|
import sys
|
||
|
|
import bz2
|
||
|
|
import struct
|
||
|
|
from panda import Panda
|
||
|
|
from panda.tests.safety_replay.replay_drive import replay_drive
|
||
|
|
from tools.lib.logreader import LogReader
|
||
|
|
from xx.chffr.lib.route import Route
|
||
|
|
|
||
|
|
# get a complete canlog (sendcan and can) for a drive
|
||
|
|
def get_canlog(route):
|
||
|
|
if os.path.isfile(route + ".bz2"):
|
||
|
|
return
|
||
|
|
|
||
|
|
r = Route(route)
|
||
|
|
log_msgs = []
|
||
|
|
for i, segment in enumerate(r.log_paths()):
|
||
|
|
print("downloading segment %d/%d" % (i+1, len(r.log_paths())))
|
||
|
|
log = LogReader(segment)
|
||
|
|
log_msgs.extend(filter(lambda msg: msg.which() in ('can', 'sendcan'), log))
|
||
|
|
log_msgs.sort(key=lambda msg: msg.logMonoTime)
|
||
|
|
|
||
|
|
dat = b"".join(m.as_builder().to_bytes() for m in log_msgs)
|
||
|
|
dat = bz2.compress(dat)
|
||
|
|
with open(route + ".bz2", "wb") as f:
|
||
|
|
f.write(dat)
|
||
|
|
|
||
|
|
|
||
|
|
def get_logreader(route):
|
||
|
|
try:
|
||
|
|
lr = LogReader(route + ".bz2")
|
||
|
|
except IOError:
|
||
|
|
print("downloading can log")
|
||
|
|
get_canlog(route)
|
||
|
|
lr = LogReader(route + ".bz2")
|
||
|
|
|
||
|
|
return lr
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
route = sys.argv[1]
|
||
|
|
mode = int(sys.argv[2])
|
||
|
|
param = 0 if len(sys.argv) < 4 else int(sys.argv[3])
|
||
|
|
|
||
|
|
lr = get_logreader(route)
|
||
|
|
print("replaying drive %s with safety model %d and param %d" % (route, mode, param))
|
||
|
|
|
||
|
|
replay_drive(lr, mode, param)
|