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.
90 lines
2.4 KiB
90 lines
2.4 KiB
5 years ago
|
import os
|
||
|
|
import threading
|
||
|
|
import time
|
||
|
|
|
||
|
|
if "CI" in os.environ:
|
||
|
|
def tqdm(x):
|
||
|
|
return x
|
||
|
|
else:
|
||
|
|
from tqdm import tqdm # type: ignore
|
||
|
|
|
||
|
|
import cereal.messaging as messaging
|
||
|
|
from collections import namedtuple
|
||
|
|
from tools.lib.logreader import LogReader
|
||
|
|
|
||
|
|
ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path'])
|
||
|
|
|
||
|
|
class SimplePubMaster():
|
||
|
|
def __init__(self, services): # pylint: disable=super-init-not-called
|
||
|
|
self.sock = {}
|
||
|
|
for s in services:
|
||
|
|
self.sock[s] = messaging.pub_sock(s)
|
||
|
|
|
||
|
|
def send(self, s, dat):
|
||
|
|
# print(dat)
|
||
|
|
self.sock[s].send(dat.to_bytes())
|
||
|
|
|
||
|
|
|
||
|
|
CONFIGS = [
|
||
|
|
ProcessConfig(
|
||
|
|
proc_name="ubloxd",
|
||
|
|
pub_sub={
|
||
|
|
"ubloxRaw": ["ubloxGnss", "gpsLocationExternal"],
|
||
|
|
},
|
||
|
|
ignore=[],
|
||
|
|
command="./ubloxd & sleep 20; kill $!",
|
||
|
|
path="../locationd",
|
||
|
|
),
|
||
|
|
]
|
||
|
|
|
||
|
|
def valgrindlauncher(arg, cwd):
|
||
|
|
os.chdir(cwd)
|
||
|
|
|
||
|
|
# Run valgrind on a process
|
||
|
|
command = "valgrind --leak-check=full " + arg
|
||
|
|
print(command)
|
||
|
|
output = os.popen(command)
|
||
|
|
while True:
|
||
|
|
s = output.read()
|
||
|
|
if s == "":
|
||
|
|
break
|
||
|
|
print(s)
|
||
|
|
|
||
|
|
def replay_process(cfg, lr):
|
||
|
|
pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can'] # We dump data from logs here
|
||
|
|
|
||
|
|
pm = SimplePubMaster(pub_sockets)
|
||
|
|
print("Sorting logs")
|
||
|
|
all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
|
||
|
|
pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
|
||
|
|
print(len(pub_msgs))
|
||
|
|
thread = threading.Thread(target=valgrindlauncher, args=(cfg.command, cfg.path))
|
||
|
|
thread.daemon = True
|
||
|
|
thread.start()
|
||
|
|
time.sleep(5) # We give the process time to start
|
||
|
|
for msg in tqdm(pub_msgs):
|
||
|
|
pm.send(msg.which(), msg.as_builder())
|
||
|
|
|
||
|
|
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||
|
|
|
||
|
|
def get_segment(segment_name, original=True):
|
||
|
|
route_name, segment_num = segment_name.rsplit("--", 1)
|
||
|
|
if original:
|
||
|
|
rlog_url = BASE_URL + "%s/%s/rlog.bz2" % (route_name.replace("|", "/"), segment_num)
|
||
|
|
else:
|
||
|
|
process_replay_dir = os.path.dirname(os.path.abspath(__file__))
|
||
|
|
model_ref_commit = open(os.path.join(process_replay_dir, "model_ref_commit")).read().strip()
|
||
|
|
rlog_url = BASE_URL + "%s/%s/rlog_%s.bz2" % (route_name.replace("|", "/"), segment_num, model_ref_commit)
|
||
|
|
|
||
|
|
return rlog_url
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
cfg = CONFIGS[0]
|
||
|
|
|
||
|
|
URL = get_segment("0375fdf7b1ce594d|2019-06-13--08-32-25--3")
|
||
|
|
print(URL)
|
||
|
|
lr = LogReader(URL)
|
||
|
|
print(str(cfg))
|
||
|
|
replay_process(cfg, lr)
|
||
|
|
time.sleep(30)
|