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185 lines
6.8 KiB
185 lines
6.8 KiB
#!/usr/bin/env python3
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import os
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import sys
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import time
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from typing import Any
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from tqdm import tqdm
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import cereal.messaging as messaging
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from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error
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from common.spinner import Spinner
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from common.timeout import Timeout
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from common.transformations.camera import get_view_frame_from_road_frame, eon_f_frame_size, tici_f_frame_size, \
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eon_d_frame_size, tici_d_frame_size
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from selfdrive.hardware import PC, TICI
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from selfdrive.manager.process_config import managed_processes
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from selfdrive.test.openpilotci import BASE_URL, get_url
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from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
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from selfdrive.test.process_replay.test_processes import format_diff
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from selfdrive.version import get_commit
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from tools.lib.framereader import FrameReader
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from tools.lib.logreader import LogReader
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if TICI:
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TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
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else:
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TEST_ROUTE = "303055c0002aefd1|2021-11-22--18-36-32"
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CACHE_DIR = os.getenv("CACHE_DIR", None)
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packet_from_camera = {"roadCameraState":"modelV2", "driverCameraState":"driverState"}
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def get_log_fn(ref_commit):
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return "%s_%s_%s.bz2" % (TEST_ROUTE, "model_tici" if TICI else "model", ref_commit)
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def replace_calib(msg, calib):
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msg = msg.as_builder()
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if calib is not None:
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msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist()
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return msg
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def process_frame(msg, pm, sm, log_msgs, vipc_server, spinner, frs, frame_idxs, last_desire):
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if msg.which() == "roadCameraState" and last_desire is not None:
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dat = messaging.new_message('lateralPlan')
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dat.lateralPlan.desire = last_desire
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pm.send('lateralPlan', dat)
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f = msg.as_builder()
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pm.send(msg.which(), f)
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img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="yuv420p")[0]
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if msg.which == "roadCameraState":
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vipc_server.send(VisionStreamType.VISION_STREAM_ROAD, img.flatten().tobytes(), f.roadCameraState.frameId,
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f.roadCameraState.timestampSof, f.roadCameraState.timestampEof)
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else:
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vipc_server.send(VisionStreamType.VISION_STREAM_DRIVER, img.flatten().tobytes(), f.driverCameraState.frameId,
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f.driverCameraState.timestampSof, f.driverCameraState.timestampEof)
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with Timeout(seconds=15):
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log_msgs.append(messaging.recv_one(sm.sock[packet_from_camera[msg.which()]]))
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frame_idxs[msg.which()] += 1
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if frame_idxs[msg.which()] >= frs[msg.which()].frame_count:
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return None
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update_spinner(spinner, frame_idxs['roadCameraState'], frs['roadCameraState'].frame_count,
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frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count)
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return 0
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def update_spinner(s, fidx, fcnt, didx, dcnt):
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s.update("replaying models: road %d/%d, driver %d/%d" % (fidx, fcnt, didx, dcnt))
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def model_replay(lr_list, frs):
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spinner = Spinner()
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spinner.update("starting model replay")
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vipc_server = VisionIpcServer("camerad")
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vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size if TICI else eon_f_frame_size))
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vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size if TICI else eon_d_frame_size))
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vipc_server.start_listener()
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pm = messaging.PubMaster(['roadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
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sm = messaging.SubMaster(['modelV2', 'driverState'])
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try:
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managed_processes['modeld'].start()
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managed_processes['dmonitoringmodeld'].start()
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time.sleep(5)
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sm.update(1000)
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last_desire = None
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log_msgs = []
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frame_idxs = dict.fromkeys(['roadCameraState','driverCameraState'], 0)
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cal = [msg for msg in lr if msg.which() == "liveCalibration"]
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for msg in cal[:5]:
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pm.send(msg.which(), replace_calib(msg, None))
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for msg in tqdm(lr_list):
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if msg.which() == "liveCalibration":
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last_calib = list(msg.liveCalibration.rpyCalib)
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pm.send(msg.which(), replace_calib(msg, last_calib))
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elif msg.which() == "lateralPlan":
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last_desire = msg.lateralPlan.desire
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elif msg.which() in ["roadCameraState", "driverCameraState"]:
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ret = process_frame(msg, pm, sm, log_msgs, vipc_server, spinner, frs, frame_idxs, last_desire)
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if ret is None:
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break
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except KeyboardInterrupt:
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pass
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finally:
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spinner.close()
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managed_processes['modeld'].stop()
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managed_processes['dmonitoringmodeld'].stop()
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return log_msgs
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if __name__ == "__main__":
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update = "--update" in sys.argv
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if TICI:
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os.system('sudo mount -o remount,size=200M /tmp') # c3 hevcs are 75M each
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replay_dir = os.path.dirname(os.path.abspath(__file__))
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ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
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segnum = 0
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frs = {}
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if CACHE_DIR:
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lr = LogReader(os.path.join(CACHE_DIR, '%s--%d--rlog.bz2' % (TEST_ROUTE.replace('|', '_'), segnum)))
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frs['roadCameraState'] = FrameReader(os.path.join(CACHE_DIR, '%s--%d--fcamera.hevc' % (TEST_ROUTE.replace('|', '_'), segnum)))
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frs['driverCameraState'] = FrameReader(os.path.join(CACHE_DIR, '%s--%d--dcamera.hevc' % (TEST_ROUTE.replace('|', '_'), segnum)))
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else:
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lr = LogReader(get_url(TEST_ROUTE, segnum))
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frs['roadCameraState'] = FrameReader(get_url(TEST_ROUTE, segnum, log_type="fcamera"))
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frs['driverCameraState'] = FrameReader(get_url(TEST_ROUTE, segnum, log_type="dcamera"))
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lr_list = list(lr)
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log_msgs = model_replay(lr_list, frs)
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failed = False
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if not update:
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ref_commit = open(ref_commit_fn).read().strip()
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log_fn = get_log_fn(ref_commit)
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cmp_log = LogReader(BASE_URL + log_fn)
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ignore = ['logMonoTime', 'valid',
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'modelV2.frameDropPerc',
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'modelV2.modelExecutionTime',
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'driverState.modelExecutionTime',
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'driverState.dspExecutionTime']
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tolerance = None if not PC else 1e-3
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results: Any = {TEST_ROUTE: {}}
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results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
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diff1, diff2, failed = format_diff(results, ref_commit)
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print(diff2)
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print('-------------')
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print('-------------')
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print('-------------')
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print('-------------')
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print('-------------')
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print(diff1)
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with open("model_diff.txt", "w") as f:
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f.write(diff2)
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if update or failed:
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from selfdrive.test.openpilotci import upload_file
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print("Uploading new refs")
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new_commit = get_commit()
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log_fn = get_log_fn(new_commit)
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save_log(log_fn, log_msgs)
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try:
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upload_file(log_fn, os.path.basename(log_fn))
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except Exception as e:
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print("failed to upload", e)
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with open(ref_commit_fn, 'w') as f:
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f.write(str(new_commit))
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print("\n\nNew ref commit: ", new_commit)
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sys.exit(int(failed))
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