You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
32 lines
1.5 KiB
32 lines
1.5 KiB
#!/usr/bin/env python3
|
|
import argparse
|
|
|
|
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
|
|
from openpilot.selfdrive.test.process_replay.test_processes import EXCLUDED_PROCS
|
|
from openpilot.tools.lib.logreader import LogReader, save_log
|
|
|
|
ALLOW_PROCS = {c.proc_name for c in CONFIGS}
|
|
|
|
if __name__ == "__main__":
|
|
parser = argparse.ArgumentParser(description="Run process on route and create new logs",
|
|
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
|
parser.add_argument("route", help="The route name to use")
|
|
parser.add_argument("--fingerprint", help="The fingerprint to use")
|
|
parser.add_argument("--whitelist-procs", nargs='*', default=ALLOW_PROCS, help="Whitelist given processes (e.g. controlsd)")
|
|
parser.add_argument("--blacklist-procs", nargs='*', default=EXCLUDED_PROCS, help="Blacklist given processes (e.g. controlsd)")
|
|
args = parser.parse_args()
|
|
|
|
allowed_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
|
|
cfgs = [c for c in CONFIGS if c.proc_name in allowed_procs]
|
|
|
|
inputs = list(LogReader(args.route))
|
|
outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)
|
|
|
|
# Remove message generated by the process under test and merge in the new messages
|
|
produces = {o.which() for o in outputs}
|
|
inputs = [i for i in inputs if i.which() not in produces]
|
|
outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
|
|
|
|
fn = f"{args.route.replace('/', '_')}_{'_'.join(allowed_procs)}.zst"
|
|
print(f"Saving log to {fn}")
|
|
save_log(fn, outputs)
|
|
|