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process_replay: in-place modification for message migration (#33695)

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* Inplace modification of lr

* Replace the original function

* Add comment

* Change the return type

* Fix carParams retrieval

* Remove the newline

* Include carState migration

* Remove TODO

* Comment

* List instead of gen

* Fix deletion

* Delete camera state if not valid

* Update ref commit

* Remove sorting at the end

* Use migrate_all in ui report

* Allow more control in what to migrate

* Add type annotations

* Static analysis

* Improve type annot

* Fix linter issues

* Remove f-string

* Migrate carState too in test_ui

* Fix peripheralState migration

* Sort at the end

* Fix regen issue

* Fix comments
pull/33714/head
Kacper Rączy 7 months ago committed by GitHub
parent 6f0927011c
commit b2791a8e07
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3 changed files with 217 additions and 195 deletions
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  1. 406
      selfdrive/test/process_replay/migration.py
  2. 2
      selfdrive/test/process_replay/ref_commit
  3. 4
      selfdrive/ui/tests/test_ui/run.py

406
selfdrive/test/process_replay/migration.py
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@ -1,4 +1,7 @@
from collections import defaultdict
from collections.abc import Callable
import functools
import capnp
from cereal import messaging, car
from opendbc.car.fingerprints import MIGRATION
@ -7,70 +10,115 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
from openpilot.system.manager.process_config import managed_processes
from openpilot.tools.lib.logreader import LogIterable
from panda import Panda
# TODO: message migration should happen in-place
def migrate_all(lr, manager_states=False, panda_states=False, camera_states=False):
msgs = migrate_sensorEvents(lr)
msgs = migrate_carParams(msgs)
msgs = migrate_gpsLocation(msgs)
msgs = migrate_deviceState(msgs)
msgs = migrate_carOutput(msgs)
msgs = migrate_controlsState(msgs)
msgs = migrate_liveLocationKalman(msgs)
msgs = migrate_liveTracks(msgs)
msgs = migrate_driverAssistance(msgs)
msgs = migrate_drivingModelData(msgs)
MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader]
MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]]
MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
## rules for migration functions
## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
## 2. it only gets the messages that are in the inputs list
## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
## 5. all migration functions must be independent of each other
def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
migrations = [
migrate_sensorEvents,
migrate_carParams,
migrate_gpsLocation,
migrate_deviceState,
migrate_carOutput,
migrate_controlsState,
migrate_carState,
migrate_liveLocationKalman,
migrate_liveTracks,
migrate_driverAssistance,
migrate_drivingModelData,
]
if manager_states:
msgs = migrate_managerState(msgs)
migrations.append(migrate_managerState)
if panda_states:
msgs = migrate_pandaStates(msgs)
msgs = migrate_peripheralState(msgs)
migrations.extend([migrate_pandaStates, migrate_peripheralState])
if camera_states:
msgs = migrate_cameraStates(msgs)
return msgs
def migrate_driverAssistance(lr):
all_msgs = []
for msg in lr:
all_msgs.append(msg)
if msg.which() == 'longitudinalPlan':
all_msgs.append(messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime).as_reader())
if msg.which() == 'driverAssistance':
return lr
return all_msgs
def migrate_drivingModelData(lr):
all_msgs = []
for msg in lr:
all_msgs.append(msg)
if msg.which() == "modelV2":
dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
for meta_field in ["laneChangeState", "laneChangeState"]:
setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
all_msgs.append(dmd.as_reader())
elif msg.which() == "drivingModelData":
return lr
return all_msgs
def migrate_liveTracks(lr):
all_msgs = []
for msg in lr:
if msg.which() != "liveTracksDEPRECATED":
all_msgs.append(msg)
migrations.append(migrate_cameraStates)
return migrate(lr, migrations)
def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
lr = list(lr)
grouped = defaultdict(list)
for i, msg in enumerate(lr):
grouped[msg.which()].append(i)
replace_ops, add_ops, del_ops = [], [], []
for migration in migration_funcs:
assert hasattr(migration, "inputs") and hasattr(migration, "product"), "Migration functions must use @migration decorator"
if migration.product in grouped: # skip if product already exists
continue
sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
msg_gen = [(i, lr[i]) for i in sorted_indices]
r_ops, a_ops, d_ops = migration(msg_gen)
replace_ops.extend(r_ops)
add_ops.extend(a_ops)
del_ops.extend(d_ops)
for index, msg in replace_ops:
lr[index] = msg
for index in sorted(del_ops, reverse=True):
del lr[index]
for msg in add_ops:
lr.append(msg)
lr = sorted(lr, key=lambda x: x.logMonoTime)
return lr
def migration(inputs: list[str], product: str|None=None):
def decorator(func):
@functools.wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
wrapper.inputs = inputs
wrapper.product = product
return wrapper
return decorator
@migration(inputs=["longitudinalPlan"], product="driverAssistance")
def migrate_driverAssistance(msgs):
add_ops = []
for _, msg in msgs:
new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
add_ops.append(new_msg.as_reader())
return [], add_ops, []
@migration(inputs=["modelV2"], product="drivingModelData")
def migrate_drivingModelData(msgs):
add_ops = []
for _, msg in msgs:
dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
for meta_field in ["laneChangeState", "laneChangeState"]:
setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
add_ops.append( dmd.as_reader())
return [], add_ops, []
@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks")
def migrate_liveTracks(msgs):
ops = []
for index, msg in msgs:
new_msg = messaging.new_message('liveTracks')
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
@ -88,22 +136,14 @@ def migrate_liveTracks(lr):
pts.append(pt)
new_msg.liveTracks.points = pts
all_msgs.append(new_msg.as_reader())
ops.append((index, new_msg.as_reader()))
return ops, [], []
return all_msgs
def migrate_liveLocationKalman(lr):
# migration needed only for routes before livePose
if any(msg.which() == 'livePose' for msg in lr):
return lr
all_msgs = []
for msg in lr:
if msg.which() != 'liveLocationKalmanDEPRECATED':
all_msgs.append(msg)
continue
@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
def migrate_liveLocationKalman(msgs):
ops = []
for index, msg in msgs:
m = messaging.new_message('livePose')
m.valid = msg.valid
m.logMonoTime = msg.logMonoTime
@ -114,102 +154,93 @@ def migrate_liveLocationKalman(lr):
lp_field.valid = llk_field.valid
for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
ops.append((index, m.as_reader()))
return ops, [], []
all_msgs.append(m.as_reader())
return all_msgs
def migrate_controlsState(lr):
ret = []
@migration(inputs=["controlsState"], product="selfdriveState")
def migrate_controlsState(msgs):
add_ops = []
for _, msg in msgs:
m = messaging.new_message('selfdriveState')
m.valid = msg.valid
m.logMonoTime = msg.logMonoTime
ss = m.selfdriveState
for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
"alertStatus", "alertSize", "alertType", "experimentalMode",
"personality"):
setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
add_ops.append(m.as_reader())
return [], add_ops, []
@migration(inputs=["carState", "controlsState"])
def migrate_carState(msgs):
ops = []
last_cs = None
for msg in lr:
for index, msg in msgs:
if msg.which() == 'controlsState':
last_cs = msg
m = messaging.new_message('selfdriveState')
m.valid = msg.valid
m.logMonoTime = msg.logMonoTime
ss = m.selfdriveState
for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
"alertStatus", "alertSize", "alertType", "experimentalMode",
"personality"):
setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
ret.append(m.as_reader())
elif msg.which() == 'carState' and last_cs is not None:
if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
msg = msg.as_builder()
msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
msg = msg.as_reader()
ops.append((index, msg.as_reader()))
return ops, [], []
ret.append(msg)
return ret
def migrate_managerState(lr):
all_msgs = []
for msg in lr:
if msg.which() != "managerState":
all_msgs.append(msg)
continue
@migration(inputs=["managerState"])
def migrate_managerState(msgs):
ops = []
for index, msg in msgs:
new_msg = msg.as_builder()
new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
all_msgs.append(new_msg.as_reader())
return all_msgs
ops.append((index, new_msg.as_reader()))
return ops, [], []
def migrate_gpsLocation(lr):
all_msgs = []
for msg in lr:
if msg.which() in ('gpsLocation', 'gpsLocationExternal'):
new_msg = msg.as_builder()
g = getattr(new_msg, new_msg.which())
# hasFix is a newer field
if not g.hasFix and g.flags == 1:
g.hasFix = True
all_msgs.append(new_msg.as_reader())
else:
all_msgs.append(msg)
return all_msgs
@migration(inputs=["gpsLocation", "gpsLocationExternal"])
def migrate_gpsLocation(msgs):
ops = []
for index, msg in msgs:
new_msg = msg.as_builder()
g = getattr(new_msg, new_msg.which())
# hasFix is a newer field
if not g.hasFix and g.flags == 1:
g.hasFix = True
ops.append((index, new_msg.as_reader()))
return ops, [], []
def migrate_deviceState(lr):
all_msgs = []
@migration(inputs=["deviceState", "initData"])
def migrate_deviceState(msgs):
ops = []
dt = None
for msg in lr:
for i, msg in msgs:
if msg.which() == 'initData':
dt = msg.initData.deviceType
if msg.which() == 'deviceState':
n = msg.as_builder()
n.deviceState.deviceType = dt
all_msgs.append(n.as_reader())
else:
all_msgs.append(msg)
return all_msgs
ops.append((i, n.as_reader()))
return ops, [], []
def migrate_carOutput(lr):
# migration needed only for routes before carOutput
if any(msg.which() == 'carOutput' for msg in lr):
return lr
@migration(inputs=["carControl"], product="carOutput")
def migrate_carOutput(msgs):
add_ops = []
for _, msg in msgs:
co = messaging.new_message('carOutput')
co.valid = msg.valid
co.logMonoTime = msg.logMonoTime
co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
add_ops.append(co.as_reader())
return [], add_ops, []
all_msgs = []
for msg in lr:
if msg.which() == 'carControl':
co = messaging.new_message('carOutput')
co.valid = msg.valid
co.logMonoTime = msg.logMonoTime
co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
all_msgs.append(co.as_reader())
all_msgs.append(msg)
return all_msgs
def migrate_pandaStates(lr):
all_msgs = []
@migration(inputs=["pandaStates", "pandaStateDEPRECATED", "carParams"])
def migrate_pandaStates(msgs):
# TODO: safety param migration should be handled automatically
safety_param_migration = {
"TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
@ -217,11 +248,12 @@ def migrate_pandaStates(lr):
"KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
}
# Migrate safety param base on carState
CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
# Migrate safety param base on carParams
CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
assert CP is not None, "carParams message not found"
if CP.carFingerprint in safety_param_migration:
safety_param = safety_param_migration[CP.carFingerprint]
fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
if fingerprint in safety_param_migration:
safety_param = safety_param_migration[fingerprint]
elif len(CP.safetyConfigs):
safety_param = CP.safetyConfigs[0].safetyParam
if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
@ -229,49 +261,45 @@ def migrate_pandaStates(lr):
else:
safety_param = CP.safetyParamDEPRECATED
for msg in lr:
ops = []
for index, msg in msgs:
if msg.which() == 'pandaStateDEPRECATED':
new_msg = messaging.new_message('pandaStates', 1)
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
new_msg.pandaStates[0].safetyParam = safety_param
all_msgs.append(new_msg.as_reader())
ops.append((index, new_msg.as_reader()))
elif msg.which() == 'pandaStates':
new_msg = msg.as_builder()
new_msg.pandaStates[-1].safetyParam = safety_param
all_msgs.append(new_msg.as_reader())
else:
all_msgs.append(msg)
ops.append((index, new_msg.as_reader()))
return ops, [], []
return all_msgs
@migration(inputs=["pandaStates", "pandaStateDEPRECATED"], product="peripheralState")
def migrate_peripheralState(msgs):
add_ops = []
def migrate_peripheralState(lr):
if any(msg.which() == "peripheralState" for msg in lr):
return lr
all_msg = []
for msg in lr:
all_msg.append(msg)
if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
which = "pandaStates" if any(msg.which() == "pandaStates" for _, msg in msgs) else "pandaStateDEPRECATED"
for _, msg in msgs:
if msg.which() != which:
continue
new_msg = messaging.new_message("peripheralState")
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
all_msg.append(new_msg.as_reader())
add_ops.append(new_msg.as_reader())
return [], add_ops, []
return all_msg
def migrate_cameraStates(lr):
all_msgs = []
@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"])
def migrate_cameraStates(msgs):
add_ops, del_ops = [], []
frame_to_encode_id = defaultdict(dict)
# just for encodeId fallback mechanism
min_frame_id = defaultdict(lambda: float('inf'))
for msg in lr:
for _, msg in msgs:
if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
continue
@ -281,9 +309,8 @@ def migrate_cameraStates(lr):
assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
for msg in lr:
for index, msg in msgs:
if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
all_msgs.append(msg)
continue
camera_state = getattr(msg, msg.which())
@ -293,6 +320,7 @@ def migrate_cameraStates(lr):
if encode_id is None:
print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
if len(frame_to_encode_id[msg.which()]) != 0:
del_ops.append(index)
continue
# fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
@ -313,33 +341,27 @@ def migrate_cameraStates(lr):
new_msg.logMonoTime = msg.logMonoTime
new_msg.valid = msg.valid
all_msgs.append(new_msg.as_reader())
return all_msgs
del_ops.append(index)
add_ops.append(new_msg.as_reader())
return [], add_ops, del_ops
def migrate_carParams(lr):
all_msgs = []
for msg in lr:
if msg.which() == 'carParams':
CP = msg.as_builder()
CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
for car_fw in CP.carParams.carFw:
car_fw.brand = CP.carParams.carName
CP.logMonoTime = msg.logMonoTime
msg = CP.as_reader()
all_msgs.append(msg)
@migration(inputs=["carParams"])
def migrate_carParams(msgs):
ops = []
for index, msg in msgs:
CP = msg.as_builder()
CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
for car_fw in CP.carParams.carFw:
car_fw.brand = CP.carParams.carName
ops.append((index, CP.as_reader()))
return ops, [], []
return all_msgs
def migrate_sensorEvents(lr):
all_msgs = []
for msg in lr:
if msg.which() != 'sensorEventsDEPRECATED':
all_msgs.append(msg)
continue
@migration(inputs=["sensorEventsDEPRECATED"], product="sensorEvents")
def migrate_sensorEvents(msgs):
add_ops, del_ops = [], []
for index, msg in msgs:
# migrate to split sensor events
for evt in msg.sensorEventsDEPRECATED:
# build new message for each sensor type
@ -367,6 +389,6 @@ def migrate_sensorEvents(lr):
m_dat.timestamp = evt.timestamp
setattr(m_dat, evt.which(), getattr(evt, evt.which()))
all_msgs.append(m.as_reader())
return all_msgs
add_ops.append(m.as_reader())
del_ops.append(index)
return [], add_ops, del_ops

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
1b4480f5ebf5a4003dde22f19bbcf989294bc724
f9f1fd736c6bbef3aa2d3aea8e4f8e1c892234de

4
selfdrive/ui/tests/test_ui/run.py
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@ -19,7 +19,7 @@ from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState
from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.route import Route
@ -263,7 +263,7 @@ def create_screenshots():
segnum = 2
lr = LogReader(route.qlog_paths()[segnum])
DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
for event in migrate_controlsState(lr):
for event in migrate(lr, [migrate_controlsState, migrate_carState]):
if event.which() in DATA:
DATA[event.which()] = event.as_builder()

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