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regen: send wideRoadCameraState #24863

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Merged
merged 9 commits into from
Jun 17, 2022
Merged

regen: send wideRoadCameraState #24863

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ee472fd
fix camera malfunction
sshane Jun 15, 2022
f4161fb
revert
sshane Jun 15, 2022
fdb2940
send in one process to fix frames out of sync
sshane Jun 15, 2022
d0f6ec7
not used
sshane Jun 15, 2022
b8c53aa
revert
sshane Jun 15, 2022
287d6bb
Merge remote-tracking branch 'upstream/master' into fix-regen-again
sshane Jun 15, 2022
589e546
fix and add --no-upload for CI testing
sshane Jun 15, 2022
367a88f
fingerprint if source is fw
sshane Jun 15, 2022
a0d447b
no FW versions
sshane Jun 16, 2022
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3 changes: 1 addition & 2 deletions selfdrive/test/process_replay/process_replay.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
from common.params import Params
from common.timeout import Timeout
from panda.python import ALTERNATIVE_EXPERIENCE
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.car_helpers import get_car, interfaces
from selfdrive.test.process_replay.helpers import OpenpilotPrefix
from selfdrive.manager.process import PythonProcess
Expand Down Expand Up @@ -372,7 +371,7 @@ def setup_env(simulation=False, CP=None):
if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
params.put_bool("DisengageOnAccelerator", False)

if CP.fingerprintSource == "fw" and CP.carFingerprint in FW_VERSIONS:
if CP.fingerprintSource == "fw":
params.put("CarParamsCache", CP.as_builder().to_bytes())
else:
os.environ['SKIP_FW_QUERY'] = "1"
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22 changes: 12 additions & 10 deletions selfdrive/test/process_replay/regen.py
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Expand Up @@ -127,7 +127,10 @@ def replay_cameras(lr, frs, disable_tqdm=False):
]

def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
pm = messaging.PubMaster([s, ])
services = [(s, stream)]
if use_extra_client:
services.append(("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD))
pm = messaging.PubMaster([s for s, _ in services])
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@sshane sshane Jun 17, 2022 •
edited
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Not the cleanest, I'd like to fix why it takes so long to start the first cam proc, but will merge so we can regen routes again

rk = Ratekeeper(1 / dt, print_delay_threshold=None)

img = b"\x00" * int(size[0] * size[1] * 3 / 2)
Expand All @@ -137,16 +140,15 @@ def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):

rk.keep_time()

m = messaging.new_message(s)
msg = getattr(m, s)
msg.frameId = rk.frame
msg.timestampSof = m.logMonoTime
msg.timestampEof = m.logMonoTime
pm.send(s, m)
for s, stream in services:
m = messaging.new_message(s)
msg = getattr(m, s)
msg.frameId = rk.frame
msg.timestampSof = m.logMonoTime
msg.timestampEof = m.logMonoTime
pm.send(s, m)

vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
if use_extra_client:
vipc_server.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, img, msg.frameId, msg.timestampSof, msg.timestampEof)
vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)

init_data = [m for m in lr if m.which() == 'initData'][0]
cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras
Expand Down
9 changes: 5 additions & 4 deletions selfdrive/test/process_replay/regen_all.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,12 +11,12 @@
from tools.lib.route import SegmentName


def regen_job(segment, disable_tqdm):
def regen_job(segment, upload, disable_tqdm):
with OpenpilotPrefix():
sn = SegmentName(segment[1])
fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
try:
relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
relr = '|'.join(relr.split('/')[-2:])
return f' ("{segment[0]}", "{relr}"), '
except Exception as e:
Expand All @@ -26,12 +26,13 @@ def regen_job(segment, disable_tqdm):
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Generate new segments from old ones")
parser.add_argument("-j", "--jobs", type=int, default=1)
parser.add_argument("--no-upload", action="store_true")
args = parser.parse_args()

with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
p = list(pool.map(regen_job, segments, [args.jobs > 1] * args.jobs))
p = pool.map(regen_job, segments, [not args.no_upload] * len(segments), [args.jobs > 1] * len(segments))
msg = "Copy these new segments into test_processes.py:"
for seg in tqdm(p, desc="Generating segments"):
for seg in tqdm(p, desc="Generating segments", total=len(segments)):
msg += "\n" + str(seg)
print()
print()
Expand Down