diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index aa2b78a095..51182bf8af 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -6,8 +6,8 @@ import capnp from typing import Union, Iterable, Optional, List, Any, Dict, Tuple -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \ - check_openpilot_enabled, get_custom_params_from_lr +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \ + check_openpilot_enabled, get_custom_params_from_lr from openpilot.selfdrive.test.update_ci_routes import upload_route from openpilot.tools.lib.route import Route from openpilot.tools.lib.framereader import FrameReader @@ -17,62 +17,68 @@ from openpilot.tools.lib.helpers import save_log def regen_segment( lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, - daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False + processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False ) -> List[capnp._DynamicStructReader]: - if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"): - raise ValueError("whitelist_proc must be a string or iterable") - all_msgs = sorted(lr, key=lambda m: m.logMonoTime) custom_params = get_custom_params_from_lr(all_msgs) - if daemons != "all": - if isinstance(daemons, str): - raise ValueError(f"Invalid value for daemons: {daemons}") - - replayed_processes = [] - for d in daemons: - cfg = get_process_config(d) - replayed_processes.append(cfg) - else: - replayed_processes = CONFIGS - - print("Replayed processes:", [p.proc_name for p in replayed_processes]) + print("Replayed processes:", [p.proc_name for p in processes]) print("\n\n", "*"*30, "\n\n", sep="") - output_logs = replay_process(replayed_processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm) + output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm) return output_logs -def setup_data_readers(route: str, sidx: int, use_route_meta: bool) -> Tuple[LogReader, Dict[str, Any]]: +def setup_data_readers( + route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True +) -> Tuple[LogReader, Dict[str, Any]]: if use_route_meta: r = Route(route) lr = LogReader(r.log_paths()[sidx]) frs = {} - if len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None: + if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None: frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx]) - if len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None: + if needs_road_cam and len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None: frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx]) - if len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None: + if needs_driver_cam and len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None: frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx]) else: lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") - frs = { - 'roadCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc"), - 'driverCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc"), - } - if next((True for m in lr if m.which() == "wideRoadCameraState"), False): - frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc") + frs = {} + if needs_road_cam: + frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") + if next((True for m in lr if m.which() == "wideRoadCameraState"), False): + frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc") + if needs_driver_cam: + frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc") return lr, frs def regen_and_save( - route: str, sidx: int, daemons: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA, + route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA, upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False ) -> str: - lr, frs = setup_data_readers(route, sidx, use_route_meta) - output_logs = regen_segment(lr, frs, daemons, disable_tqdm=disable_tqdm) + if not isinstance(processes, str) and not hasattr(processes, "__iter__"): + raise ValueError("whitelist_proc must be a string or iterable") + + if processes != "all": + if isinstance(processes, str): + raise ValueError(f"Invalid value for processes: {processes}") + + replayed_processes = [] + for d in processes: + cfg = get_process_config(d) + replayed_processes.append(cfg) + else: + replayed_processes = CONFIGS + + all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs} + lr, frs = setup_data_readers(route, sidx, use_route_meta, + needs_driver_cam="driverCameraState" in all_vision_pubs, + needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs) + output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm) log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime())) rel_log_dir = os.path.relpath(log_dir) @@ -110,5 +116,5 @@ if __name__ == "__main__": args = parser.parse_args() blacklist_set = set(args.blacklist_procs) - daemons = [p for p in args.whitelist_procs if p not in blacklist_set] - regen_and_save(args.route, args.seg, daemons=daemons, upload=args.upload, outdir=args.outdir) + processes = [p for p in args.whitelist_procs if p not in blacklist_set] + regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir)