diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 18c7e3a8dc..59f0fe703f 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -120,19 +120,17 @@ def replay_service(s, msgs): def replay_cameras(lr, frs, disable_tqdm=False): eon_cameras = [ - ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True), - ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), + ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD), + ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER), ] tici_cameras = [ - ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, False), - ("wideRoadCameraState", DT_MDL, tici_e_frame_size, VisionStreamType.VISION_STREAM_WIDE_ROAD, False), - ("driverCameraState", DT_DMON, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), + ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD), + ("wideRoadCameraState", DT_MDL, tici_e_frame_size, VisionStreamType.VISION_STREAM_WIDE_ROAD), + ("driverCameraState", DT_DMON, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER), ] - def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client): + def replay_camera(s, stream, dt, vipc_server, frames, size): services = [(s, stream)] - if use_extra_client: - services.append(("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD)) pm = messaging.PubMaster([s for s, _ in services]) rk = Ratekeeper(1 / dt, print_delay_threshold=None) @@ -154,12 +152,12 @@ def replay_cameras(lr, frs, disable_tqdm=False): vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof) init_data = [m for m in lr if m.which() == 'initData'][0] - cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras + cameras = tici_cameras if (init_data.initData.deviceType in ['tici', 'tizi']) else eon_cameras # init vipc server and cameras p = [] vs = VisionIpcServer("camerad") - for (s, dt, size, stream, use_extra_client) in cameras: + for (s, dt, size, stream) in cameras: fr = frs.get(s, None) frames = None @@ -171,10 +169,8 @@ def replay_cameras(lr, frs, disable_tqdm=False): frames.append(img.flatten().tobytes()) vs.create_buffers(stream, 40, False, size[0], size[1]) - if use_extra_client: - vs.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, size[0], size[1]) p.append(multiprocessing.Process(target=replay_camera, - args=(s, stream, dt, vs, frames, size, use_extra_client))) + args=(s, stream, dt, vs, frames, size))) vs.start_listener() return vs, p @@ -307,7 +303,7 @@ def regen_and_save(route, sidx, daemons="all", upload=False, use_route_meta=Fals lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") device_type = next(iter(lr)).initData.deviceType - if device_type == 'tici': + if device_type in ['tici', 'tizi']: wfr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc") else: wfr = None