From edca33a78c9259ab01a3542e3000f04d2a1e43b3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 19 Apr 2023 11:46:22 -0700
Subject: [PATCH] tools: improved CAN replay (#27975)

old-commit-hash: e3bd28bddfed626440a3d1a43fd8eeb3f881d77c
---
 tools/replay/README.md     | 30 +++++++++++++++++++++---------
 tools/replay/can_replay.py | 25 ++++++++++++++++++-------
 2 files changed, 39 insertions(+), 16 deletions(-)

diff --git a/tools/replay/README.md b/tools/replay/README.md
index 2d0b702bd0..6c2cdf9521 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -5,16 +5,16 @@
 `replay` replays all the messages logged while running openpilot.
 
 ```bash
-# Log in via browser to have access to non-public routes
+# Log in via browser to have access to routes from your comma account
 python tools/lib/auth.py
 
 # Start a replay
 tools/replay/replay <route-name>
 
 # Example:
-# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
+tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
 # or use --demo to replay the default demo route:
-# tools/replay/replay --demo
+tools/replay/replay --demo
 
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui
@@ -64,12 +64,24 @@ cd selfdrive/ui && ./watch3
 
 Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the [jungle repo](https://github.com/commaai/panda_jungle) for more info.
 
-`can_replay.py` is a convenient script for when any CAN data will do.
+In order to run your device as if it was in a car:
+* connect a panda jungle to your PC
+* connect a comma device or panda to the jungle via OBD-C
+* run `can_replay.py`
 
-In order to replay specific route:
-```bash
-MOCK=1 selfdrive/boardd/tests/boardd_old.py
+``` bash
+batman:replay$ ./can_replay.py -h
+usage: can_replay.py [-h] [route_or_segment_name]
 
-# In another terminal:
-tools/replay/replay <route-name>
+Replay CAN messages from a route to all connected pandas and jungles
+in a loop.
+
+positional arguments:
+  route_or_segment_name
+                        The route or segment name to replay. If not
+                        specified, a default public route will be
+                        used. (default: None)
+
+optional arguments:
+  -h, --help            show this help message and exit
 ```
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 0b8b4fe0a1..52666c4db0 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import argparse
 import os
 import time
 import threading
@@ -11,6 +12,7 @@ from common.basedir import BASEDIR
 from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from selfdrive.boardd.boardd import can_capnp_to_can_list
 from tools.plotjuggler.juggle import load_segment
+from tools.lib.logreader import logreader_from_route_or_segment
 from panda import Panda
 
 try:
@@ -87,18 +89,27 @@ def connect():
 
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
+  args = parser.parse_args()
+
   if not panda_jungle_imported:
     print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m")
     print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m")
 
   print("Loading log...")
-  ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
-  REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
-  CAN_MSGS = []
-  logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
-  with multiprocessing.Pool(24) as pool:
-    for lr in tqdm(pool.map(load_segment, logs)):
-      CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+  if args.route_or_segment_name is None:
+    ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
+    REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
+    CAN_MSGS = []
+    logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
+    with multiprocessing.Pool(24) as pool:
+      for lr in tqdm(pool.map(load_segment, logs)):
+        CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+  else:
+    lr = logreader_from_route_or_segment(args.route_or_segment_name)
+    CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
 
   # set both to cycle ignition
   IGN_ON = int(os.getenv("ON", "0"))