regen: send wideRoadCameraState (#24863)

* fix camera malfunction

* revert

* send in one process to fix frames out of sync

* not used

* revert

* fix and add --no-upload for CI testing

* fingerprint if source is fw

* no FW versions
old-commit-hash: 5dce006a82

selfdrive/test/process_replay/process_replay.py

@@ -15,7 +15,6 @@ from cereal.services import service_list
 from common.params import Params
 from common.timeout import Timeout
 from panda.python import ALTERNATIVE_EXPERIENCE
-from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from selfdrive.manager.process import PythonProcess
@@ -372,7 +371,7 @@ def setup_env(simulation=False, CP=None):
     if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
       params.put_bool("DisengageOnAccelerator", False)
 
-    if CP.fingerprintSource == "fw" and CP.carFingerprint in FW_VERSIONS:
+    if CP.fingerprintSource == "fw":
       params.put("CarParamsCache", CP.as_builder().to_bytes())
     else:
       os.environ['SKIP_FW_QUERY'] = "1"

selfdrive/test/process_replay/regen.py

@@ -127,7 +127,10 @@ def replay_cameras(lr, frs, disable_tqdm=False):
   ]
 
   def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
-    pm = messaging.PubMaster([s, ])
+    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)
 
     img = b"\x00" * int(size[0] * size[1] * 3 / 2)
@@ -137,16 +140,15 @@ def replay_cameras(lr, frs, disable_tqdm=False):
 
       rk.keep_time()
 
-      m = messaging.new_message(s)
+      for s, stream in services:
-      msg = getattr(m, s)
+        m = messaging.new_message(s)
-      msg.frameId = rk.frame
+        msg = getattr(m, s)
-      msg.timestampSof = m.logMonoTime
+        msg.frameId = rk.frame
-      msg.timestampEof = m.logMonoTime
+        msg.timestampSof = m.logMonoTime
-      pm.send(s, m)
+        msg.timestampEof = m.logMonoTime
+        pm.send(s, m)
 
-      vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
+        vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
-      if use_extra_client:
-        vipc_server.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, 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

selfdrive/test/process_replay/regen_all.py

@@ -11,12 +11,12 @@ from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segm
 from tools.lib.route import SegmentName
 
 
-def regen_job(segment, disable_tqdm):
+def regen_job(segment, upload, disable_tqdm):
   with OpenpilotPrefix():
     sn = SegmentName(segment[1])
     fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
     try:
-      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
+      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
       relr = '|'.join(relr.split('/')[-2:])
       return f'  ("{segment[0]}", "{relr}"), '
     except Exception as e:
@@ -26,12 +26,13 @@ def regen_job(segment, disable_tqdm):
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("-j", "--jobs", type=int, default=1)
+  parser.add_argument("--no-upload", action="store_true")
   args = parser.parse_args()
 
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = list(pool.map(regen_job, segments, [args.jobs > 1] * args.jobs))
+    p = pool.map(regen_job, segments, [not args.no_upload] * len(segments), [args.jobs > 1] * len(segments))
     msg = "Copy these new segments into test_processes.py:"
-    for seg in tqdm(p, desc="Generating segments"):
+    for seg in tqdm(p, desc="Generating segments", total=len(segments)):
       msg += "\n" + str(seg)
     print()
     print()