#!/usr/bin/env python3
import os
import argparse
import time
import capnp
import numpy as np
from typing import Any
from collections.abc import Iterable
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
check_openpilot_enabled, get_custom_params_from_lr
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
from openpilot.selfdrive.test.update_ci_routes import upload_route
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
from openpilot.tools.lib.logreader import LogReader, LogIterable
from openpilot.tools.lib.helpers import save_log
[docs]
class DummyFrameReader(BaseFrameReader):
def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
self.pix_val = pix_val
self.w, self.h = w, h
self.frame_count = frame_count
self.frame_type = FrameType.raw
[docs]
def get(self, idx, count=1, pix_fmt="yuv420p"):
if pix_fmt == "rgb24":
shape = (self.h, self.w, 3)
elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
shape = (int((self.h * self.w) * 3 / 2),)
else:
raise NotImplementedError
return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
[docs]
@staticmethod
def zero_dcamera():
return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
[docs]
def regen_segment(
lr: LogIterable, frs: dict[str, Any] = None,
processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
) -> list[capnp._DynamicStructReader]:
all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
custom_params = get_custom_params_from_lr(all_msgs)
print("Replayed processes:", [p.proc_name for p in processes])
print("\n\n", "*"*30, "\n\n", sep="")
output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
return output_logs
[docs]
def setup_data_readers(
route: str, sidx: int, use_route_meta: bool,
needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
) -> tuple[LogReader, dict[str, Any]]:
if use_route_meta:
r = Route(route)
lr = LogReader(r.log_paths()[sidx])
frs = {}
if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
if needs_road_cam and len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
if needs_driver_cam:
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
else:
lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
frs = {}
if needs_road_cam:
frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
if needs_driver_cam:
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
else:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
return lr, frs
[docs]
def regen_and_save(
route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA,
upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
) -> str:
if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
raise ValueError("whitelist_proc must be a string or iterable")
if processes != "all":
if isinstance(processes, str):
raise ValueError(f"Invalid value for processes: {processes}")
replayed_processes = []
for d in processes:
cfg = get_process_config(d)
replayed_processes.append(cfg)
else:
replayed_processes = CONFIGS
all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
lr, frs = setup_data_readers(route, sidx, use_route_meta,
needs_driver_cam="driverCameraState" in all_vision_pubs,
needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
dummy_driver_cam=dummy_driver_cam)
output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
rel_log_dir = os.path.relpath(log_dir)
rpath = os.path.join(log_dir, "rlog.bz2")
os.makedirs(log_dir)
save_log(rpath, output_logs, compress=True)
print("\n\n", "*"*30, "\n\n", sep="")
print("New route:", rel_log_dir, "\n")
if not check_openpilot_enabled(output_logs):
raise Exception("Route did not engage for long enough")
if upload:
upload_route(rel_log_dir)
return rel_log_dir
if __name__ == "__main__":
def comma_separated_list(string):
return string.split(",")
all_procs = [p.proc_name for p in CONFIGS]
parser = argparse.ArgumentParser(description="Generate new segments from old ones")
parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
help="Comma-separated blacklist of processes to regen (e.g. controlsd,radard)")
parser.add_argument("route", type=str, help="The source route")
parser.add_argument("seg", type=int, help="Segment in source route")
args = parser.parse_args()
blacklist_set = set(args.blacklist_procs)
processes = [p for p in args.whitelist_procs if p not in blacklist_set]
regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)