tools: cleanup + setup CI (#20104)
* cleanup tools * setup tools CI * loggerd doesn't support this anymore * cleanup * builds with openpilot nowpull/20108/head
Adeeb Shihadeh
4 years ago
committed by
GitHub
parent
4d46c521d1
commit
d1b44bbb34
10 changed files with 26 additions and 167 deletions
@ -1,4 +1,4 @@ |
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name: tests |
name: selfdrive |
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on: |
on: |
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push: |
push: |
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branches-ignore: |
branches-ignore: |
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@ -0,0 +1,18 @@ |
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name: tools |
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on: |
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push: |
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pull_request: |
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jobs: |
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plotjuggler: |
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name: plotjuggler |
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runs-on: ubuntu-20.04 |
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timeout-minutes: 30 |
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steps: |
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- uses: actions/checkout@v2 |
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with: |
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submodules: true |
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- name: Install |
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run: cd tools/plotjuggler && ./install.sh |
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#- name: Juggle Demo |
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# run: cd tools/plotjuggler && ./juggle.py |
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@ -1,21 +0,0 @@ |
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MIT License |
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Copyright (c) 2018 comma.ai |
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Permission is hereby granted, free of charge, to any person obtaining a copy |
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of this software and associated documentation files (the "Software"), to deal |
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in the Software without restriction, including without limitation the rights |
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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copies of the Software, and to permit persons to whom the Software is |
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furnished to do so, subject to the following conditions: |
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The above copyright notice and this permission notice shall be included in all |
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copies or substantial portions of the Software. |
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
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SOFTWARE. |
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@ -1,9 +0,0 @@ |
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== Ubuntu == |
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sudo apt-get install capnproto libyaml-cpp-dev qt5-default |
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== Mac == |
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brew install qt5 ffmpeg capnp yaml-cpp zmq |
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brew link qt5 --force |
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Before Width: | Height: | Size: 4.4 MiB |
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#!/usr/bin/env python |
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# pylint: skip-file |
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import os |
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import sys |
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import zmq |
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import cv2 |
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import numpy as np |
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import struct |
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# sudo pip install git+git://github.com/mikeboers/PyAV.git |
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import av |
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import cereal.messaging as messaging |
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from cereal.services import service_list |
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PYGAME = os.getenv("PYGAME") is not None |
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if PYGAME: |
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import pygame |
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imgff = np.zeros((874, 1164, 3), dtype=np.uint8) |
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# first 74 bytes in any stream |
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start = "0000000140010c01ffff016000000300b0000003000003005dac5900000001420101016000000300b0000003000003005da0025080381c5c665aee4c92ec80000000014401c0f1800420" |
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def receiver_thread(): |
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if PYGAME: |
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pygame.init() |
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pygame.display.set_caption("vnet debug UI") |
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screen = pygame.display.set_mode((1164, 874), pygame.DOUBLEBUF) |
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camera_surface = pygame.surface.Surface((1164, 874), 0, 24).convert() |
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addr = "192.168.5.11" |
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if len(sys.argv) >= 2: |
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addr = sys.argv[1] |
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context = zmq.Context() |
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s = messaging.sub_sock(context, 9002, addr=addr) |
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frame_sock = messaging.pub_sock(context, service_list['roadCameraState'].port) |
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ctx = av.codec.codec.Codec('hevc', 'r').create() |
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ctx.decode(av.packet.Packet(start.decode("hex"))) |
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# import time |
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while 1: |
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# t1 = time.time() |
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ts, raw = s.recv_multipart() |
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ts = struct.unpack('q', ts)[0] * 1000 |
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# t1, t2 = time.time(), t1 |
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#print 'ms to get frame:', (t1-t2)*1000 |
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pkt = av.packet.Packet(raw) |
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f = ctx.decode(pkt) |
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if not f: |
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continue |
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f = f[0] |
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# t1, t2 = time.time(), t1 |
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#print 'ms to decode:', (t1-t2)*1000 |
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y_plane = np.frombuffer(f.planes[0], np.uint8).reshape((874, 1216))[:, 0:1164] |
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u_plane = np.frombuffer(f.planes[1], np.uint8).reshape((437, 608))[:, 0:582] |
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v_plane = np.frombuffer(f.planes[2], np.uint8).reshape((437, 608))[:, 0:582] |
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yuv_img = y_plane.tobytes() + u_plane.tobytes() + v_plane.tobytes() |
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# t1, t2 = time.time(), t1 |
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#print 'ms to make yuv:', (t1-t2)*1000 |
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#print 'tsEof:', ts |
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dat = messaging.new_message('roadCameraState') |
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dat.roadCameraState.image = yuv_img |
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dat.roadCameraState.timestampEof = ts |
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dat.roadCameraState.transform = map(float, list(np.eye(3).flatten())) |
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frame_sock.send(dat.to_bytes()) |
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if PYGAME: |
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yuv_np = np.frombuffer(yuv_img, dtype=np.uint8).reshape(874 * 3 // 2, -1) |
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cv2.cvtColor(yuv_np, cv2.COLOR_YUV2RGB_I420, dst=imgff) |
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#print yuv_np.shape, imgff.shape |
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#scipy.misc.imsave("tmp.png", imgff) |
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pygame.surfarray.blit_array(camera_surface, imgff.swapaxes(0, 1)) |
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screen.blit(camera_surface, (0, 0)) |
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pygame.display.flip() |
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def main(gctx=None): |
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receiver_thread() |
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if __name__ == "__main__": |
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main() |
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@ -1,9 +0,0 @@ |
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#!/usr/bin/env python |
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from common.params import Params |
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from selfdrive.version import terms_version, training_version |
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if __name__ == '__main__': |
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params = Params() |
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params.put("HasAcceptedTerms", str(terms_version, 'utf-8')) |
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params.put("CompletedTrainingVersion", str(training_version, 'utf-8')) |
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print("Terms Accepted!") |
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