141 lines
4.3 KiB
Python
Executable File
141 lines
4.3 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 time
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from typing import Any
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from tqdm import tqdm
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os.environ['QCOM_REPLAY'] = '1'
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from common.spinner import Spinner
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from common.timeout import Timeout
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import selfdrive.manager as manager
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from cereal import log
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import cereal.messaging as messaging
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from tools.lib.framereader import FrameReader
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from tools.lib.logreader import LogReader
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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_git_commit
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from common.transformations.camera import get_view_frame_from_road_frame
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TEST_ROUTE = "99c94dc769b5d96e|2019-08-03--14-19-59"
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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 camera_replay(lr, fr, desire=None, calib=None):
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spinner = Spinner()
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spinner.update("starting model replay")
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pm = messaging.PubMaster(['frame', 'liveCalibration', 'pathPlan'])
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sm = messaging.SubMaster(['model', 'modelV2'])
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# TODO: add dmonitoringmodeld
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print("preparing procs")
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manager.prepare_managed_process("camerad")
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manager.prepare_managed_process("modeld")
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try:
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print("starting procs")
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manager.start_managed_process("camerad")
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manager.start_managed_process("modeld")
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time.sleep(5)
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sm.update(1000)
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print("procs started")
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desires_by_index = {v:k for k,v in log.PathPlan.Desire.schema.enumerants.items()}
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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, calib))
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log_msgs = []
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frame_idx = 0
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for msg in tqdm(lr):
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if msg.which() == "liveCalibration":
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pm.send(msg.which(), replace_calib(msg, calib))
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elif msg.which() == "frame":
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if desire is not None:
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for i in desire[frame_idx].nonzero()[0]:
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dat = messaging.new_message('pathPlan')
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dat.pathPlan.desire = desires_by_index[i]
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pm.send('pathPlan', dat)
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f = msg.as_builder()
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img = fr.get(frame_idx, pix_fmt="rgb24")[0][:,:,::-1]
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f.frame.image = img.flatten().tobytes()
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frame_idx += 1
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pm.send(msg.which(), f)
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with Timeout(seconds=15):
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log_msgs.append(messaging.recv_one(sm.sock['model']))
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log_msgs.append(messaging.recv_one(sm.sock['modelV2']))
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spinner.update("modeld replay %d/%d" % (frame_idx, fr.frame_count))
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if frame_idx >= fr.frame_count:
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break
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except KeyboardInterrupt:
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pass
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print("replay done")
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spinner.close()
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manager.kill_managed_process('modeld')
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time.sleep(2)
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manager.kill_managed_process('camerad')
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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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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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lr = LogReader(get_url(TEST_ROUTE, 0))
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fr = FrameReader(get_url(TEST_ROUTE, 0, log_type="fcamera"))
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log_msgs = camera_replay(list(lr), fr)
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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 = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", ref_commit)
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cmp_log = LogReader(BASE_URL + log_fn)
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ignore = ['logMonoTime', 'valid', 'model.frameDropPerc', 'model.modelExecutionTime',
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'modelV2.frameDropPerc', 'modelV2.modelExecutionTime']
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results: Any = {TEST_ROUTE: {}}
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results[TEST_ROUTE]["modeld"] = compare_logs(cmp_log, log_msgs, ignore_fields=ignore)
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diff1, diff2, failed = format_diff(results, ref_commit)
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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_git_commit()
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log_fn = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", 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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