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203 lines
6.9 KiB
203 lines
6.9 KiB
from collections import defaultdict
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from cereal import messaging
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from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
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from openpilot.selfdrive.car.toyota.values import EPS_SCALE
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from openpilot.selfdrive.manager.process_config import managed_processes
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from panda import Panda
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def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, camera_states=False):
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msgs = migrate_sensorEvents(lr, old_logtime)
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msgs = migrate_carParams(msgs, old_logtime)
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if manager_states:
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msgs = migrate_managerState(msgs)
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if panda_states:
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msgs = migrate_pandaStates(msgs)
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msgs = migrate_peripheralState(msgs)
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if camera_states:
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msgs = migrate_cameraStates(msgs)
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return msgs
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def migrate_managerState(lr):
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all_msgs = []
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for msg in lr:
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if msg.which() != "managerState":
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all_msgs.append(msg)
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continue
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new_msg = msg.as_builder()
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new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
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all_msgs.append(new_msg.as_reader())
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return all_msgs
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def migrate_pandaStates(lr):
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all_msgs = []
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# TODO: safety param migration should be handled automatically
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safety_param_migration = {
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"TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
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"TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR,
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"KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
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}
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# Migrate safety param base on carState
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CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
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assert CP is not None, "carParams message not found"
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if CP.carFingerprint in safety_param_migration:
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safety_param = safety_param_migration[CP.carFingerprint]
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elif len(CP.safetyConfigs):
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safety_param = CP.safetyConfigs[0].safetyParam
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if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
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safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
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else:
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safety_param = CP.safetyParamDEPRECATED
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for msg in lr:
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if msg.which() == 'pandaStateDEPRECATED':
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new_msg = messaging.new_message('pandaStates', 1)
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new_msg.valid = msg.valid
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new_msg.logMonoTime = msg.logMonoTime
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new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
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new_msg.pandaStates[0].safetyParam = safety_param
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all_msgs.append(new_msg.as_reader())
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elif msg.which() == 'pandaStates':
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new_msg = msg.as_builder()
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new_msg.pandaStates[-1].safetyParam = safety_param
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all_msgs.append(new_msg.as_reader())
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else:
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all_msgs.append(msg)
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return all_msgs
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def migrate_peripheralState(lr):
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if any(msg.which() == "peripheralState" for msg in lr):
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return lr
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all_msg = []
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for msg in lr:
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all_msg.append(msg)
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if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
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continue
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new_msg = messaging.new_message("peripheralState")
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new_msg.valid = msg.valid
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new_msg.logMonoTime = msg.logMonoTime
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all_msg.append(new_msg.as_reader())
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return all_msg
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def migrate_cameraStates(lr):
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all_msgs = []
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frame_to_encode_id = defaultdict(dict)
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# just for encodeId fallback mechanism
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min_frame_id = defaultdict(lambda: float('inf'))
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for msg in lr:
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if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
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continue
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encode_index = getattr(msg, msg.which())
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meta = meta_from_encode_index(msg.which())
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assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
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frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
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for msg in lr:
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if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
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all_msgs.append(msg)
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continue
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camera_state = getattr(msg, msg.which())
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min_frame_id[msg.which()] = min(min_frame_id[msg.which()], camera_state.frameId)
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encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
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if encode_id is None:
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print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
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if len(frame_to_encode_id[msg.which()]) != 0:
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continue
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# fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
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# try to fake encode_id by subtracting lowest frameId
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encode_id = camera_state.frameId - min_frame_id[msg.which()]
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print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}")
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new_msg = messaging.new_message(msg.which())
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new_camera_state = getattr(new_msg, new_msg.which())
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new_camera_state.frameId = encode_id
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new_camera_state.encodeId = encode_id
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# timestampSof was added later so it might be missing on some old segments
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if camera_state.timestampSof == 0 and camera_state.timestampEof > 25000000:
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new_camera_state.timestampSof = camera_state.timestampEof - 18000000
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else:
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new_camera_state.timestampSof = camera_state.timestampSof
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new_camera_state.timestampEof = camera_state.timestampEof
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new_msg.logMonoTime = msg.logMonoTime
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new_msg.valid = msg.valid
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all_msgs.append(new_msg.as_reader())
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return all_msgs
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def migrate_carParams(lr, old_logtime=False):
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all_msgs = []
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for msg in lr:
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if msg.which() == 'carParams':
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CP = messaging.new_message('carParams')
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CP.valid = True
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CP.carParams = msg.carParams.as_builder()
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for car_fw in CP.carParams.carFw:
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car_fw.brand = CP.carParams.carName
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if old_logtime:
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CP.logMonoTime = msg.logMonoTime
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msg = CP.as_reader()
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all_msgs.append(msg)
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return all_msgs
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def migrate_sensorEvents(lr, old_logtime=False):
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all_msgs = []
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for msg in lr:
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if msg.which() != 'sensorEventsDEPRECATED':
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all_msgs.append(msg)
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continue
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# migrate to split sensor events
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for evt in msg.sensorEventsDEPRECATED:
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# build new message for each sensor type
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sensor_service = ''
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if evt.which() == 'acceleration':
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sensor_service = 'accelerometer'
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elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
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sensor_service = 'gyroscope'
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elif evt.which() == 'light' or evt.which() == 'proximity':
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sensor_service = 'lightSensor'
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elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
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sensor_service = 'magnetometer'
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elif evt.which() == 'temperature':
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sensor_service = 'temperatureSensor'
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m = messaging.new_message(sensor_service)
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m.valid = True
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if old_logtime:
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m.logMonoTime = msg.logMonoTime
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m_dat = getattr(m, sensor_service)
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m_dat.version = evt.version
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m_dat.sensor = evt.sensor
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m_dat.type = evt.type
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m_dat.source = evt.source
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if old_logtime:
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m_dat.timestamp = evt.timestamp
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setattr(m_dat, evt.which(), getattr(evt, evt.which()))
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all_msgs.append(m.as_reader())
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return all_msgs
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