From 3f9437e249d6822eb6590a2f4a0fe276e6a33842 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 4 Mar 2025 20:24:17 -0800 Subject: [PATCH] process_replay: support lane changes in model_replay (#34777) * lane changes need to see these * newline * add lc probs --- selfdrive/test/process_replay/model_replay.py | 5 ++++- selfdrive/test/process_replay/process_replay.py | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 8cd8222ddc..36398af8ca 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -66,6 +66,8 @@ def generate_report(proposed, master, tmp, commit): (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"), (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"), (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"), + (lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"), + (lambda x: get_idx_if_non_empty(x.meta.desireState, 4), "desireState.laneChangeRight"), (lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs") ], "modelV2") DriverStateV2_Plots = zl([ @@ -143,7 +145,8 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): def model_replay(lr, frs): # modeld is using frame pairs - modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}) + modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, + {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"}) dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"}) if not SEND_EXTRA_INPUTS: diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 1135aeb874..34ca98fdc2 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -568,7 +568,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"], + pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"], subs=["modelV2", "drivingModelData", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(),