openpilot_comma/selfdrive/test/process_replay/model_replay.py

#!/usr/bin/env python3
import os
import sys
import time
from collections import defaultdict
from typing import Any

import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.system.hardware import PC
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
from openpilot.system.version import get_commit
from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.helpers import save_log

TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
SEGMENT = 6
MAX_FRAMES = 100 if PC else 600
NAV_FRAMES = 50

NO_NAV = "NO_NAV" in os.environ
NO_MODEL = "NO_MODEL" in os.environ
SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))


def get_log_fn(ref_commit, test_route):
  return f"{test_route}_model_tici_{ref_commit}.bz2"


def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
  all_msgs = []
  cam_state_counts = defaultdict(int)
  # keep adding messages until cam states are equal to MAX_FRAMES
  for msg in sorted(logs, key=lambda m: m.logMonoTime):
    all_msgs.append(msg)
    if msg.which() in frs_types:
      cam_state_counts[msg.which()] += 1

    if all(cam_state_counts[state] == max_frames for state in frs_types):
      break

  if len(include_all_types) != 0:
    other_msgs = [m for m in logs if m.which() in include_all_types]
    all_msgs.extend(other_msgs)

  return all_msgs


def nav_model_replay(lr):
  sm = messaging.SubMaster(['navModel', 'navThumbnail', 'mapRenderState'])
  pm = messaging.PubMaster(['liveLocationKalman', 'navRoute'])

  nav = [m for m in lr if m.which() == 'navRoute']
  llk = [m for m in lr if m.which() == 'liveLocationKalman']
  assert len(nav) > 0 and len(llk) >= NAV_FRAMES and nav[0].logMonoTime < llk[-NAV_FRAMES].logMonoTime

  log_msgs = []
  try:
    assert "MAPBOX_TOKEN" in os.environ
    os.environ['MAP_RENDER_TEST_MODE'] = '1'
    Params().put_bool('DmModelInitialized', True)
    managed_processes['mapsd'].start()
    managed_processes['navmodeld'].start()

    # setup position and route
    for _ in range(10):
      for s in (llk[-NAV_FRAMES], nav[0]):
        pm.send(s.which(), s.as_builder().to_bytes())
      sm.update(1000)
      if sm.updated['navModel']:
        break
      time.sleep(1)

    if not sm.updated['navModel']:
      raise Exception("no navmodeld outputs, failed to initialize")

    # drain
    time.sleep(2)
    sm.update(0)

    # run replay
    for n in range(len(llk) - NAV_FRAMES, len(llk)):
      pm.send(llk[n].which(), llk[n].as_builder().to_bytes())
      m = messaging.recv_one(sm.sock['navThumbnail'])
      assert m is not None, f"no navThumbnail, frame={n}"
      log_msgs.append(m)

      m = messaging.recv_one(sm.sock['mapRenderState'])
      assert m is not None, f"no mapRenderState, frame={n}"
      log_msgs.append(m)

      m = messaging.recv_one(sm.sock['navModel'])
      assert m is not None, f"no navModel response, frame={n}"
      log_msgs.append(m)
  finally:
    managed_processes['mapsd'].stop()
    managed_processes['navmodeld'].stop()

  return log_msgs


def model_replay(lr, frs):
  # modeld is using frame pairs
  modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"})
  dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"})
  if not SEND_EXTRA_INPUTS:
    modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
  # initial calibration
  cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder()
  cal_msg.logMonoTime = lr[0].logMonoTime
  modeld_logs.insert(0, cal_msg.as_reader())
  dmodeld_logs.insert(0, cal_msg.as_reader())

  modeld = get_process_config("modeld")
  dmonitoringmodeld = get_process_config("dmonitoringmodeld")

  modeld_msgs = replay_process(modeld, modeld_logs, frs)
  dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
  return modeld_msgs + dmonitoringmodeld_msgs


if __name__ == "__main__":
  update = "--update" in sys.argv
  replay_dir = os.path.dirname(os.path.abspath(__file__))
  ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")

  # load logs
  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT)))
  frs = {
    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera"), readahead=True),
    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera"), readahead=True),
    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
  }

  # Update tile refs
  if update:
    import urllib
    import requests
    import threading
    import http.server
    from openpilot.selfdrive.test.openpilotci import upload_bytes
    os.environ['MAPS_HOST'] = 'http://localhost:5000'

    class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
      def do_GET(self):
        assert len(self.path) > 10  # Sanity check on path length
        r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
        upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
        self.send_response(r.status_code)
        self.send_header('Content-type','text/html')
        self.end_headers()
        self.wfile.write(r.content)

    server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
    thread = threading.Thread(None, server.serve_forever, daemon=True)
    thread.start()
  else:
    os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')

  log_msgs = []
  # run replays
  if not NO_MODEL:
    log_msgs += model_replay(lr, frs)
  if not NO_NAV:
    log_msgs += nav_model_replay(lr)

  # get diff
  failed = False
  if not update:
    with open(ref_commit_fn) as f:
      ref_commit = f.read().strip()
    log_fn = get_log_fn(ref_commit, TEST_ROUTE)
    try:
      all_logs = list(LogReader(BASE_URL + log_fn))
      cmp_log = []

      # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
      if not NO_MODEL:
        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
        dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
        cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
      if not NO_NAV:
        nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"])
        nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3]
        cmp_log += nav_logs

      ignore = [
        'logMonoTime',
        'modelV2.frameDropPerc',
        'modelV2.modelExecutionTime',
        'driverStateV2.modelExecutionTime',
        'driverStateV2.dspExecutionTime',
        'navModel.dspExecutionTime',
        'navModel.modelExecutionTime',
        'navThumbnail.timestampEof',
        'mapRenderState.locationMonoTime',
        'mapRenderState.renderTime',
      ]
      if PC:
        ignore += [
          'modelV2.laneLines.0.t',
          'modelV2.laneLines.1.t',
          'modelV2.laneLines.2.t',
          'modelV2.laneLines.3.t',
          'modelV2.roadEdges.0.t',
          'modelV2.roadEdges.1.t',
        ]
      # TODO this tolerance is absurdly large
      tolerance = 2.0 if PC else None
      results: Any = {TEST_ROUTE: {}}
      log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
      results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
      diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)

      print(diff_long)
      print('-------------\n'*5)
      print(diff_short)
      with open("model_diff.txt", "w") as f:
        f.write(diff_long)
    except Exception as e:
      print(str(e))
      failed = True

  # upload new refs
  if (update or failed) and not PC:
    from openpilot.selfdrive.test.openpilotci import upload_file

    print("Uploading new refs")

    new_commit = get_commit()
    log_fn = get_log_fn(new_commit, TEST_ROUTE)
    save_log(log_fn, log_msgs)
    try:
      upload_file(log_fn, os.path.basename(log_fn))
    except Exception as e:
      print("failed to upload", e)

    with open(ref_commit_fn, 'w') as f:
      f.write(str(new_commit))

    print("\n\nNew ref commit: ", new_commit)

  sys.exit(int(failed))