segment regen (#21148)
* start seg regen
* send vipc
* fix up some paths
* set fp
* fix no entries
* engages
* seperate camera procs
* send real frames
* regen test routes
* nice argparser
* fix valgrind test
* move that
* fix that
old-commit-hash: 4a1aec27ef
commatwo_master
Adeeb Shihadeh
4 years ago
committed by
GitHub
parent
2c3d136d32
commit
d31397b84b
13 changed files with 222 additions and 161 deletions
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fakedata/ |
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#!/usr/bin/env python3 |
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import time |
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from tqdm import tqdm |
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from selfdrive.manager.process_config import managed_processes |
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from cereal.messaging import PubMaster, recv_one, sub_sock |
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from tools.lib.framereader import FrameReader |
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def rreplace(s, old, new, occurrence): |
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li = s.rsplit(old, occurrence) |
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return new.join(li) |
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def regen_model(msgs, pm, frame_reader, model_sock): |
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# Send some livecalibration messages to initalize visiond |
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for msg in msgs: |
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if msg.which() == 'liveCalibration': |
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pm.send('liveCalibration', msg.as_builder()) |
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out_msgs = [] |
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fidx = 0 |
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for msg in tqdm(msgs): |
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w = msg.which() |
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if w == 'roadCameraState': |
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msg = msg.as_builder() |
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img = frame_reader.get(fidx, pix_fmt="rgb24")[0][:,:,::-1] |
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msg.roadCameraState.image = img.flatten().tobytes() |
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pm.send(w, msg) |
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model = recv_one(model_sock) |
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fidx += 1 |
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out_msgs.append(model) |
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elif w == 'liveCalibration': |
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pm.send(w, msg.as_builder()) |
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return out_msgs |
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def inject_model(msgs, segment_name): |
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if segment_name.count('--') == 2: |
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segment_name = rreplace(segment_name, '--', '/', 1) |
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frame_reader = FrameReader('cd:/'+segment_name.replace("|", "/") + "/fcamera.hevc") |
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managed_processes['camerad'].start() |
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managed_processes['modeld'].start() |
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# TODO do better than just wait for modeld to boot |
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time.sleep(5) |
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pm = PubMaster(['liveCalibration', 'roadCameraState']) |
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model_sock = sub_sock('model') |
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try: |
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out_msgs = regen_model(msgs, pm, frame_reader, model_sock) |
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except (KeyboardInterrupt, SystemExit, Exception) as e: |
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managed_processes['modeld'].stop() |
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time.sleep(2) |
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managed_processes['camerad'].stop() |
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raise e |
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managed_processes['modeld'].stop() |
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time.sleep(2) |
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managed_processes['camerad'].stop() |
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new_msgs = [] |
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midx = 0 |
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for msg in msgs: |
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if (msg.which() == 'model') and (midx < len(out_msgs)): |
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model = out_msgs[midx].as_builder() |
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model.logMonoTime = msg.logMonoTime |
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model = model.as_reader() |
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new_msgs.append(model) |
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midx += 1 |
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else: |
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new_msgs.append(msg) |
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print(len(new_msgs), len(list(msgs))) |
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assert abs(len(new_msgs) - len(list(msgs))) < 2 |
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return new_msgs |
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#!/usr/bin/env python3 |
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import argparse |
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import os |
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import time |
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import multiprocessing |
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from tqdm import tqdm |
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# run DM procs |
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os.environ["USE_WEBCAM"] = "1" |
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import cereal.messaging as messaging |
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from cereal.services import service_list |
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from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error |
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from common.params import Params |
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from common.realtime import Ratekeeper, DT_MDL, DT_DMON |
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from common.transformations.camera import eon_f_frame_size, eon_d_frame_size |
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from selfdrive.car.fingerprints import FW_VERSIONS |
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from selfdrive.manager.process import ensure_running |
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from selfdrive.manager.process_config import managed_processes |
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from selfdrive.test.update_ci_routes import upload_route |
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from tools.lib.route import Route |
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from tools.lib.framereader import FrameReader |
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from tools.lib.logreader import LogReader |
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process_replay_dir = os.path.dirname(os.path.abspath(__file__)) |
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FAKEDATA = os.path.join(process_replay_dir, "fakedata/") |
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def replay_service(s, msgs): |
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pm = messaging.PubMaster([s, ]) |
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rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) |
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smsgs = [m for m in msgs if m.which() == s] |
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for m in smsgs: |
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pm.send(s, m.as_builder()) |
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rk.keep_time() |
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vs = None |
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def replay_cameras(lr, frs): |
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cameras = [ |
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("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_YUV_BACK), |
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("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_YUV_FRONT), |
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] |
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def replay_camera(s, stream, dt, vipc_server, fr, size): |
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pm = messaging.PubMaster([s, ]) |
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rk = Ratekeeper(1 / dt, print_delay_threshold=None) |
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img = b"\x00" * int(size[0]*size[1]*3/2) |
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while True: |
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if fr is not None and False: |
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img = fr.get(rk.frame % fr.frame_count, pix_fmt='yuv420p')[0] |
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img = img.flatten().tobytes() |
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print("got img") |
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rk.keep_time() |
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m = messaging.new_message(s) |
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msg = getattr(m, s) |
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msg.frameId = rk.frame |
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pm.send(s, m) |
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vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof) |
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# init vipc server and cameras |
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p = [] |
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global vs |
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vs = VisionIpcServer("camerad") |
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for (s, dt, size, stream) in cameras: |
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fr = frs.get(s, None) |
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vs.create_buffers(stream, 40, False, size[0], size[1]) |
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p.append(multiprocessing.Process(target=replay_camera, |
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args=(s, stream, dt, vs, fr, size))) |
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# hack to make UI work |
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vs.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, eon_f_frame_size[0], eon_f_frame_size[1]) |
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vs.start_listener() |
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return p |
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def regen_segment(lr, frs=None, outdir=FAKEDATA): |
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lr = list(lr) |
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if frs is None: |
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frs = dict() |
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# setup env |
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params = Params() |
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params.clear_all() |
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params.put_bool("Passive", False) |
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params.put_bool("OpenpilotEnabledToggle", True) |
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params.put_bool("CommunityFeaturesToggle", True) |
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params.put_bool("CommunityFeaturesToggle", True) |
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cal = messaging.new_message('liveCalibration') |
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cal.liveCalibration.validBlocks = 20 |
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cal.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] |
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params.put("CalibrationParams", cal.to_bytes()) |
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os.environ["LOG_ROOT"] = outdir |
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os.environ["SIMULATION"] = "1" |
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os.environ['SKIP_FW_QUERY'] = "" |
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os.environ['FINGERPRINT'] = "" |
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for msg in lr: |
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if msg.which() == 'carParams': |
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car_fingerprint = msg.carParams.carFingerprint |
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if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS): |
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params.put("CarParamsCache", msg.carParams.as_builder().to_bytes()) |
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else: |
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os.environ['SKIP_FW_QUERY'] = "1" |
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os.environ['FINGERPRINT'] = car_fingerprint |
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fake_daemons = { |
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'sensord': [ |
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multiprocessing.Process(target=replay_service, args=('sensorEvents', lr)), |
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], |
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'pandad': [ |
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multiprocessing.Process(target=replay_service, args=('can', lr)), |
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multiprocessing.Process(target=replay_service, args=('pandaState', lr)), |
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], |
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#'managerState': [ |
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# multiprocessing.Process(target=replay_service, args=('managerState', lr)), |
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#], |
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'thermald': [ |
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multiprocessing.Process(target=replay_service, args=('deviceState', lr)), |
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], |
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'camerad': [ |
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*replay_cameras(lr, frs), |
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], |
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# TODO: fix these and run them |
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'paramsd': [ |
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multiprocessing.Process(target=replay_service, args=('liveParameters', lr)), |
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], |
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'locationd': [ |
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multiprocessing.Process(target=replay_service, args=('liveLocationKalman', lr)), |
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], |
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} |
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try: |
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# start procs up |
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ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader'] |
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ensure_running(managed_processes.values(), started=True, not_run=ignore) |
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for procs in fake_daemons.values(): |
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for p in procs: |
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p.start() |
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for _ in tqdm(range(60)): |
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# ensure all procs are running |
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for d, procs in fake_daemons.items(): |
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for p in procs: |
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if not p.is_alive(): |
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raise Exception(f"{d}'s {p.name} died") |
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time.sleep(1) |
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finally: |
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# kill everything |
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for p in managed_processes.values(): |
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p.stop() |
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for procs in fake_daemons.values(): |
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for p in procs: |
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p.terminate() |
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r = params.get("CurrentRoute", encoding='utf-8') |
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return os.path.join(outdir, r + "--0") |
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if __name__ == "__main__": |
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parser = argparse.ArgumentParser(description="Generate new segments from old ones") |
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parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket") |
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parser.add_argument("route", type=str, help="The source route") |
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parser.add_argument("seg", type=int, help="Segment in source route") |
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args = parser.parse_args() |
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r = Route(args.route) |
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lr = LogReader(r.log_paths()[args.seg]) |
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fr = FrameReader(r.camera_paths()[args.seg]) |
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rpath = regen_segment(lr, {'roadCameraState': fr}) |
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relr = os.path.relpath(rpath) |
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print("\n\n", "*"*30, "\n\n") |
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print("New route:", relr, "\n") |
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if args.upload: |
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upload_route(relr) |
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@ -1,47 +0,0 @@ |
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#!/usr/bin/env python3 |
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import os |
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import sys |
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from selfdrive.test.openpilotci import upload_file |
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from selfdrive.test.process_replay.compare_logs import save_log |
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from selfdrive.test.process_replay.test_processes import segments, get_segment |
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from selfdrive.version import get_git_commit |
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from tools.lib.logreader import LogReader |
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from selfdrive.test.process_replay.inject_model import inject_model |
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if __name__ == "__main__": |
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no_upload = "--no-upload" in sys.argv |
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process_replay_dir = os.path.dirname(os.path.abspath(__file__)) |
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ref_commit_fn = os.path.join(process_replay_dir, "model_ref_commit") |
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ref_commit = get_git_commit() |
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if ref_commit is None: |
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raise Exception("couldn't get ref commit") |
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with open(ref_commit_fn, "w") as f: |
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f.write(ref_commit) |
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for car_brand, segment in segments: |
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rlog_fn = get_segment(segment, original=True) |
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if rlog_fn is None: |
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print("failed to get segment %s" % segment) |
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sys.exit(1) |
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lr = LogReader(rlog_fn) |
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print('injecting model into % s' % segment) |
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lr = inject_model(lr, segment) |
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route_name, segment_num = segment.rsplit("--", 1) |
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log_fn = "%s/%s/rlog_%s.bz2" % (route_name.replace("|", "/"), segment_num, ref_commit) |
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tmp_name = 'tmp_%s_%s' % (route_name, segment_num) |
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save_log(tmp_name, lr) |
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if not no_upload: |
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upload_file(tmp_name, log_fn) |
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print('uploaded %s', log_fn) |
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os.remove(tmp_name) |
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os.remove(rlog_fn) |
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print("done") |
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