Add script to rerun process on route and generate new logs (#22100)

* add script to rerun process on route and generate new logs

* cleanup

* move to root

* newline

.gitignore

@@ -76,3 +76,5 @@ comma*.sh
 
 selfdrive/modeld/thneed/compile
 models/*.thneed
+
+*.bz2

selfdrive/debug/run_process_on_route.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+import argparse
+
+from selfdrive.test.process_replay.compare_logs import save_log
+from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
+from tools.lib.logreader import MultiLogIterator
+from tools.lib.route import Route
+
+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("process", help="The process to run")
+  args = parser.parse_args()
+
+  cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
+
+  route = Route(args.route)
+  lr = MultiLogIterator(route.log_paths(), wraparound=False)
+  inputs = list(lr)
+
+  outputs = replay_process(cfg, inputs)
+
+  # Remove message generated by the process under test and merge in the new messages
+  produces = set(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}_{args.process}.bz2"
+  save_log(fn, outputs)

selfdrive/test/process_replay/process_replay.py

@@ -429,7 +429,10 @@ def python_replay_process(cfg, lr, fingerprint=None):
 
       recv_cnt = len(recv_socks)
       while recv_cnt > 0:
-        m = fpm.wait_for_msg()
+        m = fpm.wait_for_msg().as_builder()
+        m.logMonoTime = msg.logMonoTime
+        m = m.as_reader()
+
         log_msgs.append(m)
         recv_cnt -= m.which() in recv_socks
   return log_msgs
@@ -466,6 +469,10 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
           if response is None:
             print(f"Warning, no response received {i}")
           else:
+
+            response = response.as_builder()
+            response.logMonoTime = msg.logMonoTime
+            response = response.as_reader()
             log_msgs.append(response)
 
         if not len(resp_sockets):  # We only need to wait if we didn't already wait for a response