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311 lines
12 KiB
311 lines
12 KiB
#!/usr/bin/env python3
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import os
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import sys
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from collections import defaultdict
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from typing import Any
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import tempfile
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from itertools import zip_longest
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import matplotlib.pyplot as plt
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import numpy as np
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from tabulate import tabulate
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from openpilot.common.git import get_commit
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from openpilot.system.hardware import PC
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from openpilot.tools.lib.openpilotci import get_url
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from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
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from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
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from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
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from openpilot.tools.lib.logreader import LogReader, save_log
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from openpilot.tools.lib.github_utils import GithubUtils
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TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404"
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SEGMENT = 4
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MAX_FRAMES = 100 if PC else 400
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NO_MODEL = "NO_MODEL" in os.environ
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SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
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DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
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API_TOKEN = os.getenv("GITHUB_COMMENTS_TOKEN","")
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MODEL_REPLAY_BUCKET="model_replay_master"
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GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
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EXEC_TIMINGS = [
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# model, instant max, average max
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("modelV2", 0.035, 0.025),
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("driverStateV2", 0.02, 0.015),
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]
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def get_log_fn(test_route, ref="master"):
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return f"{test_route}_model_tici_{ref}.zst"
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def plot(proposed, master, title, tmp):
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proposed = list(proposed)
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master = list(master)
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fig, ax = plt.subplots()
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ax.plot(master, label='MASTER')
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ax.plot(proposed, label='PROPOSED')
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plt.legend(loc='best')
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plt.title(title)
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plt.savefig(f'{tmp}/{title}.png')
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return (title + '.png', proposed == master)
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def get_event(logs, event):
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return (getattr(m, m.which()) for m in filter(lambda m: m.which() == event, logs))
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def zl(array, fill):
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return zip_longest(array, [], fillvalue=fill)
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def get_idx_if_non_empty(l, idx=None):
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return l if idx is None else (l[idx] if len(l) > 0 else None)
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def generate_report(proposed, master, tmp, commit):
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ModelV2_Plots = zl([
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(lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
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(lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
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(lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"),
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(lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
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(lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
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(lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"),
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(lambda x: get_idx_if_non_empty(x.meta.desireState, 4), "desireState.laneChangeRight"),
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(lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs")
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], "modelV2")
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DriverStateV2_Plots = zl([
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(lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
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(lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
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(lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
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(lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
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(lambda x: get_idx_if_non_empty(x.leftDriverData.notReadyProb, 0), "leftDriverData.notReadyProb0"),
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(lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
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], "driverStateV2")
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return [plot(map(v[0], get_event(proposed, event)), \
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map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
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for v,event in ([*ModelV2_Plots] + [*DriverStateV2_Plots])]
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def create_table(title, files, link, open_table=False):
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if not files:
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return ""
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table = [f'<details {"open" if open_table else ""}><summary>{title}</summary><table>']
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for i,f in enumerate(files):
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if not (i % 2):
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table.append("<tr>")
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table.append(f'<td><img src=\\"{link}/{f[0]}\\"></td>')
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if (i % 2):
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table.append("</tr>")
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table.append("</table></details>")
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table = "".join(table)
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return table
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def comment_replay_report(proposed, master, full_logs):
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with tempfile.TemporaryDirectory() as tmp:
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PR_BRANCH = os.getenv("GIT_BRANCH","")
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DATA_BUCKET = f"model_replay_{PR_BRANCH}"
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try:
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GITHUB.get_pr_number(PR_BRANCH)
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except Exception:
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print("No PR associated with this branch. Skipping report.")
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return
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commit = get_commit()
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files = generate_report(proposed, master, tmp, commit)
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GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])
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log_name = get_log_fn(TEST_ROUTE, commit)
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save_log(log_name, full_logs)
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GITHUB.upload_file(DATA_BUCKET, os.path.basename(log_name), log_name)
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diff_files = [x for x in files if not x[1]]
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link = GITHUB.get_bucket_link(DATA_BUCKET)
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diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True)
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all_plots = create_table("All Model Replay Plots", files, link)
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comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots
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GITHUB.comment_on_pr(comment, PR_BRANCH)
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def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
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all_msgs = []
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cam_state_counts = defaultdict(int)
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# keep adding messages until cam states are equal to MAX_FRAMES
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for msg in sorted(logs, key=lambda m: m.logMonoTime):
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all_msgs.append(msg)
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if msg.which() in frs_types:
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cam_state_counts[msg.which()] += 1
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if all(cam_state_counts[state] == max_frames for state in frs_types):
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break
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if len(include_all_types) != 0:
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other_msgs = [m for m in logs if m.which() in include_all_types]
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all_msgs.extend(other_msgs)
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return all_msgs
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def model_replay(lr, frs):
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# modeld is using frame pairs
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modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"},
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{"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"})
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dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
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if not SEND_EXTRA_INPUTS:
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modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
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dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'liveCalibration']
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# initial setup
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for s in ('liveCalibration', 'deviceState'):
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msg = next(msg for msg in lr if msg.which() == s).as_builder()
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msg.logMonoTime = lr[0].logMonoTime
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modeld_logs.insert(1, msg.as_reader())
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dmodeld_logs.insert(1, msg.as_reader())
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modeld = get_process_config("modeld")
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dmonitoringmodeld = get_process_config("dmonitoringmodeld")
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modeld_msgs = replay_process(modeld, modeld_logs, frs)
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if isinstance(frs['roadCameraState'], NumpyFrameReader):
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del frs['roadCameraState'].frames
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del frs['wideRoadCameraState'].frames
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dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
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msgs = modeld_msgs + dmonitoringmodeld_msgs
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header = ['model', 'max instant', 'max instant allowed', 'average', 'max average allowed', 'test result']
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rows = []
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timings_ok = True
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for (s, instant_max, avg_max) in EXEC_TIMINGS:
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ts = [getattr(m, s).modelExecutionTime for m in msgs if m.which() == s]
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# TODO some init can happen in first iteration
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ts = ts[1:]
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errors = []
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if np.max(ts) > instant_max:
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errors.append("❌ FAILED MAX TIMING CHECK ❌")
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if np.mean(ts) > avg_max:
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errors.append("❌ FAILED AVG TIMING CHECK ❌")
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timings_ok = not errors and timings_ok
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rows.append([s, np.max(ts), instant_max, np.mean(ts), avg_max, "\n".join(errors) or "✅"])
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print("------------------------------------------------")
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print("----------------- Model Timing -----------------")
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print("------------------------------------------------")
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print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".4f"))
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assert timings_ok
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return msgs
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def get_frames():
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regen_cache = "--regen-cache" in sys.argv
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cache = "--cache" in sys.argv or not PC or regen_cache
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videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc')
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cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
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if cache:
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frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
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os.makedirs(frames_cache, exist_ok=True)
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cache_size = 200
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for v in videos:
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if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache:
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f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12")
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print(f'Caching {v}...')
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for i in range(MAX_FRAMES//cache_size):
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np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1])
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del f
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return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)}
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else:
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return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)}
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if __name__ == "__main__":
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update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
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replay_dir = os.path.dirname(os.path.abspath(__file__))
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# load logs
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lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
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frs = get_frames()
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log_msgs = []
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# run replays
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if not NO_MODEL:
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log_msgs += model_replay(lr, frs)
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# get diff
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failed = False
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if not update:
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log_fn = get_log_fn(TEST_ROUTE)
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try:
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all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn)))
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cmp_log = []
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# logs are ordered based on type: modelV2, drivingModelData, driverStateV2
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if not NO_MODEL:
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model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
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cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
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dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
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cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
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ignore = [
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'logMonoTime',
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'drivingModelData.frameDropPerc',
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'drivingModelData.modelExecutionTime',
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'modelV2.frameDropPerc',
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'modelV2.modelExecutionTime',
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'driverStateV2.modelExecutionTime',
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'driverStateV2.gpuExecutionTime'
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]
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if PC:
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# TODO We ignore whole bunch so we can compare important stuff
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# like posenet with reasonable tolerance
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ignore += ['modelV2.acceleration.x',
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'modelV2.position.x',
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'modelV2.position.xStd',
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'modelV2.position.y',
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'modelV2.position.yStd',
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'modelV2.position.z',
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'modelV2.position.zStd',
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'drivingModelData.path.xCoefficients',]
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for i in range(3):
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for field in ('x', 'y', 'v', 'a'):
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ignore.append(f'modelV2.leadsV3.{i}.{field}')
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ignore.append(f'modelV2.leadsV3.{i}.{field}Std')
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for i in range(4):
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for field in ('x', 'y', 'z', 't'):
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ignore.append(f'modelV2.laneLines.{i}.{field}')
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for i in range(2):
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for field in ('x', 'y', 'z', 't'):
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ignore.append(f'modelV2.roadEdges.{i}.{field}')
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tolerance = .3 if PC else None
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results: Any = {TEST_ROUTE: {}}
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log_paths: Any = {TEST_ROUTE: {"models": {'ref': log_fn, 'new': log_fn}}}
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results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
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diff_short, diff_long, failed = format_diff(results, log_paths, 'master')
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if "CI" in os.environ:
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comment_replay_report(log_msgs, cmp_log, log_msgs)
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failed = False
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print(diff_long)
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print('-------------\n'*5)
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print(diff_short)
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with open("model_diff.txt", "w") as f:
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f.write(diff_long)
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except Exception as e:
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print(str(e))
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failed = True
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# upload new refs
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if update and not PC:
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print("Uploading new refs")
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log_fn = get_log_fn(TEST_ROUTE)
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save_log(log_fn, log_msgs)
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try:
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GITHUB.upload_file(MODEL_REPLAY_BUCKET, os.path.basename(log_fn), log_fn)
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except Exception as e:
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print("failed to upload", e)
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sys.exit(int(failed))
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