Sensor events regen (#25903)

old-commit-hash: 96ed5aa581

cereal

@@ -1 +1 @@
-Subproject commit a0c6f28d6bce2fd7d7ef2fd29e80d2eab118a6c6
+Subproject commit e310f4860d349d2e260cfd4bb060b0705b17244c

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-051fa5bea42027c1a756ae61fd0c752c1e911899
+a82580edc3a842dd58814bf2fe1a0f0f85d438f5

selfdrive/test/process_replay/regen.py

@@ -106,6 +106,23 @@ def replay_sensor_events(s, msgs):
       rk.keep_time()
 
 
+def replay_sensor_event(s, msgs):
+  smsgs = [m for m in msgs if m.which() == s]
+  #if len(smsgs) == 0:
+  #  return
+
+  pm = messaging.PubMaster([s, ])
+  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
+
+  while True:
+    for m in smsgs:
+      m = m.as_builder()
+      m.logMonoTime = int(sec_since_boot() * 1e9)
+      getattr(m, m.which()).timestamp = m.logMonoTime
+      pm.send(m.which(), m)
+      rk.keep_time()
+
+
 def replay_service(s, msgs):
   pm = messaging.PubMaster([s, ])
   rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
@@ -193,8 +210,49 @@ def migrate_carparams(lr):
   return all_msgs
 
 
+def migrate_sensorEvents(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != 'sensorEvents':
+      all_msgs.append(msg)
+      continue
+
+    # migrate to split sensor events
+    for evt in msg.sensorEvents:
+      # build new message for each sensor type
+      sensor_service = ''
+      if evt.which() == 'acceleration':
+        sensor_service = 'accelerometer'
+      elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
+        sensor_service = 'gyroscope'
+      elif evt.which() == 'light' or evt.which() == 'proximity':
+        sensor_service = 'lightSensor'
+      elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
+        sensor_service = 'magnetometer'
+      elif evt.which() == 'temperature':
+        sensor_service = 'temperatureSensor'
+
+      m = messaging.new_message(sensor_service)
+      m.valid = True
+
+      m_dat = getattr(m, sensor_service)
+      m_dat.version = evt.version
+      m_dat.sensor = evt.sensor
+      m_dat.type = evt.type
+      m_dat.source = evt.source
+      setattr(m_dat, evt.which(), getattr(evt, evt.which()))
+
+      all_msgs.append(m.as_reader())
+
+    # append also legacy sensorEvents, to have both (remove later)
+    all_msgs.append(msg)
+
+  return all_msgs
+
+
 def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   lr = migrate_carparams(list(lr))
+  lr = migrate_sensorEvents(list(lr))
   if frs is None:
     frs = dict()
 
@@ -213,6 +271,9 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   fake_daemons = {
     'sensord': [
       multiprocessing.Process(target=replay_sensor_events, args=('sensorEvents', lr)),
+      multiprocessing.Process(target=replay_sensor_event, args=('accelerometer', lr)),
+      multiprocessing.Process(target=replay_sensor_event, args=('gyroscope', lr)),
+      multiprocessing.Process(target=replay_sensor_event, args=('magnetometer', lr)),
     ],
     'pandad': [
       multiprocessing.Process(target=replay_service, args=('can', lr)),

selfdrive/test/process_replay/test_processes.py

@@ -38,21 +38,21 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regen9D38397D30D|2022-09-09--13-12-48--0"),
+  ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"),
-  ("HYUNDAI", "regenB3953B393C0|2022-09-09--14-49-37--0"),
+  ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"),
-  ("HYUNDAI", "regen8DB830E5376|2022-09-13--17-24-37--0"),
+  ("HYUNDAI", "regen11AA43BCA5F|2022-09-27--15-39-54--0"),
-  ("TOYOTA", "regen8FCBB6F06F1|2022-09-09--13-14-07--0"),
+  ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"),
-  ("TOYOTA2", "regen956BFA75300|2022-09-09--14-51-24--0"),
+  ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"),
-  ("TOYOTA3", "regenE909BC2F430|2022-09-09--20-44-49--0"),
+  ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
-  ("HONDA", "regenD1D10209015|2022-09-09--14-53-09--0"),
+  ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
-  ("HONDA2", "regen3F7C2EFDC08|2022-09-09--19-41-19--0"),
+  ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
-  ("CHRYSLER", "regen92783EAE66B|2022-09-09--13-15-44--0"),
+  ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
-  ("RAM", "regenBE5DAAEF30F|2022-09-13--17-06-24--0"),
+  ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"),
-  ("SUBARU", "regen8A363AF7E14|2022-09-13--17-20-39--0"),
+  ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
-  ("GM", "regen31EA3F9A37C|2022-09-09--21-06-36--0"),
+  ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
-  ("NISSAN", "regenAA21ADE5921|2022-09-09--19-44-37--0"),
+  ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
-  ("VOLKSWAGEN", "regenA1BF4D17761|2022-09-09--19-46-24--0"),
+  ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
-  ("MAZDA", "regen1994C97E977|2022-09-13--16-34-44--0"),
+  ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done