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83 lines
2.1 KiB
83 lines
2.1 KiB
#!/usr/bin/env python3
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import time
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from tqdm import tqdm
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import selfdrive.manager as manager
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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 == 'frame':
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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.frame.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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manager.start_managed_process('camerad')
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manager.start_managed_process('modeld')
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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', 'frame'])
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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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manager.kill_managed_process('modeld')
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time.sleep(2)
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manager.kill_managed_process('camerad')
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raise e
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manager.kill_managed_process('modeld')
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time.sleep(2)
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manager.kill_managed_process('camerad')
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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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