From 2edd65ad4e0b51d998bb9908b19e1bb9c9c1162c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 6 Jun 2023 19:31:13 +0200
Subject: [PATCH] process_replay: helpers (#28367)
* process_replay helper
* Refactor
* refactor check_enabled uses
* fix __init__
* noqa in __init__ imports
* Move compare_logs outside of process_replay
* Move save_logs to tools.lib.helpers
* Remove save_log from compare_logs
* fix lint issues
old-commit-hash: 64377a88f94527f56ba8e9cd7c01c97100681455
---
selfdrive/debug/run_process_on_route.py | 2 +-
selfdrive/test/process_replay/__init__.py | 1 +
selfdrive/test/process_replay/compare_logs.py | 11 --------
selfdrive/test/process_replay/model_replay.py | 3 ++-
.../test/process_replay/process_replay.py | 25 +++++++++++++++++--
selfdrive/test/process_replay/regen.py | 4 +--
.../test/process_replay/test_processes.py | 7 +++---
tools/lib/helpers.py | 12 +++++++++
tools/plotjuggler/juggle.py | 2 +-
9 files changed, 46 insertions(+), 21 deletions(-)
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 63b0733bba..0ea76d260f 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -2,10 +2,10 @@
import argparse
-from selfdrive.test.process_replay.compare_logs import save_log
from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
from tools.lib.logreader import MultiLogIterator
from tools.lib.route import Route
+from tools.lib.helpers import save_log
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Run process on route and create new logs",
diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py
index e69de29bb2..6667deaa2d 100644
--- a/selfdrive/test/process_replay/__init__.py
+++ b/selfdrive/test/process_replay/__init__.py
@@ -0,0 +1 @@
+from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, replay_process, replay_process_with_name # noqa: F401
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 48752d2222..52898d8810 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -1,5 +1,4 @@
#!/usr/bin/env python3
-import bz2
import sys
import math
import capnp
@@ -12,16 +11,6 @@ from tools.lib.logreader import LogReader
EPSILON = sys.float_info.epsilon
-def save_log(dest, log_msgs, compress=True):
- dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
- if compress:
- dat = bz2.compress(dat)
-
- with open(dest, "wb") as f:
- f.write(dat)
-
-
def remove_ignored_fields(msg, ignore):
msg = msg.as_builder()
for key in ignore:
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9c1ec4e931..55d95a6a6a 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -14,11 +14,12 @@ from common.transformations.camera import tici_f_frame_size, tici_d_frame_size
from system.hardware import PC
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.compare_logs import compare_logs
from selfdrive.test.process_replay.test_processes import format_diff
from system.version import get_commit
from tools.lib.framereader import FrameReader
from tools.lib.logreader import LogReader
+from tools.lib.helpers import save_log
TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
SEGMENT = 6
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index d6d5b25bde..7ee1d05962 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -333,7 +333,28 @@ def get_process_config(name):
raise Exception(f"Cannot find process config with name: {name}") from ex
-def replay_process(cfg, lr, fingerprint=None):
+def replay_process_with_name(name, lr, *args, **kwargs):
+ cfg = get_process_config(name)
+ return replay_process(cfg, lr, *args, **kwargs)
+
+
+def replay_process(cfg, lr, fingerprint=None, return_all_logs=False):
+ all_msgs = list(lr)
+ process_logs = _replay_single_process(cfg, all_msgs, fingerprint)
+
+ if return_all_logs:
+ keys = set(cfg.subs)
+ modified_logs = [m for m in all_msgs if m.which() not in keys]
+ modified_logs.extend(process_logs)
+ modified_logs.sort(key=lambda m: m.logMonoTime)
+ log_msgs = modified_logs
+ else:
+ log_msgs = process_logs
+
+ return log_msgs
+
+
+def _replay_single_process(cfg, lr, fingerprint):
with OpenpilotPrefix():
controlsState = None
initialized = False
@@ -484,7 +505,7 @@ def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None,
params.put_bool("ExperimentalLongitudinalEnabled", True)
-def check_enabled(msgs):
+def check_openpilot_enabled(msgs):
cur_enabled_count = 0
max_enabled_count = 0
for msg in msgs:
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 63eb37d29d..cc697bb9bf 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -19,7 +19,7 @@ from panda.python import Panda
from selfdrive.car.toyota.values import EPS_SCALE
from selfdrive.manager.process import ensure_running
from selfdrive.manager.process_config import managed_processes
-from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled
+from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_openpilot_enabled
from selfdrive.test.update_ci_routes import upload_route
from tools.lib.route import Route
from tools.lib.framereader import FrameReader
@@ -343,7 +343,7 @@ def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=Fal
segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
seg_path = os.path.join(outdir, segment)
# check to make sure openpilot is engaged in the route
- if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
+ if not check_openpilot_enabled(LogReader(os.path.join(seg_path, "rlog"))):
raise Exception(f"Route did not engage for long enough: {segment}")
return seg_path
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index deed1ec48f..02922c530d 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -9,11 +9,12 @@ from typing import Any, DefaultDict, Dict
from selfdrive.car.car_helpers import interface_names
from selfdrive.test.openpilotci import get_url, upload_file
-from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
-from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process
+from selfdrive.test.process_replay.compare_logs import compare_logs
+from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
from system.version import get_commit
from tools.lib.filereader import FileReader
from tools.lib.logreader import LogReader
+from tools.lib.helpers import save_log
source_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
@@ -104,7 +105,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
# check to make sure openpilot is engaged in the route
if cfg.proc_name == "controlsd":
- if not check_enabled(log_msgs):
+ if not check_openpilot_enabled(log_msgs):
return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
try:
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index efe704b9ec..067b64b6ac 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -1,3 +1,4 @@
+import bz2
import datetime
TIME_FMT = "%Y-%m-%d--%H-%M-%S"
@@ -13,8 +14,19 @@ class RE:
EXPLORER_FILE = r'^(?P<segment_name>{})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME)
OP_SEGMENT_DIR = r'^(?P<segment_name>{})$'.format(SEGMENT_NAME)
+
def timestamp_to_datetime(t: str) -> datetime.datetime:
"""
Convert an openpilot route timestamp to a python datetime
"""
return datetime.datetime.strptime(t, TIME_FMT)
+
+
+def save_log(dest, log_msgs, compress=True):
+ dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+ if compress:
+ dat = bz2.compress(dat)
+
+ with open(dest, "wb") as f:
+ f.write(dat)
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 1e592da3b1..e147cf9ce8 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -11,10 +11,10 @@ import requests
import argparse
from common.basedir import BASEDIR
-from selfdrive.test.process_replay.compare_logs import save_log
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader
from tools.lib.route import Route, SegmentName
+from tools.lib.helpers import save_log
from urllib.parse import urlparse, parse_qs
juggle_dir = os.path.dirname(os.path.realpath(__file__))