50 lines
1.3 KiB
Python
Executable file
50 lines
1.3 KiB
Python
Executable file
#!/usr/bin/env python3
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import os
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import sys
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import bz2
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import struct
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from panda import Panda
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from panda.tests.safety_replay.replay_drive import replay_drive
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from tools.lib.logreader import LogReader
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from xx.chffr.lib.route import Route
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# get a complete canlog (sendcan and can) for a drive
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def get_canlog(route):
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if os.path.isfile(route + ".bz2"):
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return
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r = Route(route)
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log_msgs = []
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for i, segment in enumerate(r.log_paths()):
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print("downloading segment %d/%d" % (i+1, len(r.log_paths())))
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log = LogReader(segment)
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log_msgs.extend(filter(lambda msg: msg.which() in ('can', 'sendcan'), log))
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log_msgs.sort(key=lambda msg: msg.logMonoTime)
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dat = b"".join(m.as_builder().to_bytes() for m in log_msgs)
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dat = bz2.compress(dat)
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with open(route + ".bz2", "wb") as f:
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f.write(dat)
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def get_logreader(route):
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try:
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lr = LogReader(route + ".bz2")
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except IOError:
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print("downloading can log")
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get_canlog(route)
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lr = LogReader(route + ".bz2")
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return lr
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if __name__ == "__main__":
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route = sys.argv[1]
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mode = int(sys.argv[2])
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param = 0 if len(sys.argv) < 4 else int(sys.argv[3])
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lr = get_logreader(route)
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print("replaying drive %s with safety model %d and param %d" % (route, mode, param))
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replay_drive(lr, mode, param)
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