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fix up model tests + tools (#21071)

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* unlogger: send yuv stream

* fix up model test tools

* fix unlogger

* rename model replay

* bump cereal

* test in actions

* no ci for now
This commit is contained in:
Adeeb Shihadeh
2021-05-28 23:08:08 -07:00
committed by GitHub
parent e3f6360e45
commit cf6d133638
15 changed files with 93 additions and 65 deletions
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tools/replay/unlogger.py
+18 -9
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@@ -29,7 +29,8 @@ SeekAbsoluteTime = namedtuple("SeekAbsoluteTime", ("secs",))
SeekRelativeTime = namedtuple("SeekRelativeTime", ("secs",))
TogglePause = namedtuple("TogglePause", ())
StopAndQuit = namedtuple("StopAndQuit", ())
VIPC_TYP = "vipc"
VIPC_RGB = "rgb"
VIPC_YUV = "yuv"
class UnloggerWorker(object):
@@ -121,9 +122,14 @@ class UnloggerWorker(object):
smsg.roadCameraState.image = bts
extra = (smsg.roadCameraState.frameId, smsg.roadCameraState.timestampSof, smsg.roadCameraState.timestampEof)
data_socket.send_pyobj((cookie, VIPC_TYP, msg.logMonoTime, route_time, extra), flags=zmq.SNDMORE)
data_socket.send_pyobj((cookie, VIPC_RGB, msg.logMonoTime, route_time, extra), flags=zmq.SNDMORE)
data_socket.send(bts, copy=False)
img_yuv = self._frame_reader.get(frame_id, pix_fmt="yuv420p")
if img_yuv is not None:
data_socket.send_pyobj((cookie, VIPC_YUV, msg.logMonoTime, route_time, extra), flags=zmq.SNDMORE)
data_socket.send(img_yuv.flatten().tobytes(), copy=False)
data_socket.send_pyobj((cookie, typ, msg.logMonoTime, route_time), flags=zmq.SNDMORE)
data_socket.send(smsg.to_bytes(), copy=False)
@@ -166,6 +172,7 @@ def _get_vipc_server(length):
vipc_server = VisionIpcServer("camerad")
vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, w, h)
vipc_server.create_buffers(VisionStreamType.VISION_STREAM_YUV_BACK, 40, False, w, h)
vipc_server.start_listener()
return vipc_server
@@ -259,7 +266,7 @@ def unlogger_thread(command_address, forward_commands_address, data_address, run
print("at", route_time)
printed_at = route_time
if typ not in send_funcs and typ != 'vipc':
if typ not in send_funcs and typ not in [VIPC_RGB, VIPC_YUV]:
if typ in address_mapping:
# Remove so we don't keep printing warnings.
address = address_mapping.pop(typ)
@@ -288,13 +295,15 @@ def unlogger_thread(command_address, forward_commands_address, data_address, run
# Send message.
try:
if typ == VIPC_TYP and (not no_visionipc):
if vipc_server is None:
vipc_server = _get_vipc_server(len(msg_bytes))
if typ in [VIPC_RGB, VIPC_YUV]:
if not no_visionipc:
if vipc_server is None:
vipc_server = _get_vipc_server(len(msg_bytes))
i, sof, eof = extra[0]
vipc_server.send(VisionStreamType.VISION_STREAM_RGB_BACK, msg_bytes, i, sof, eof)
if typ != VIPC_TYP:
i, sof, eof = extra[0]
stream = VisionStreamType.VISION_STREAM_RGB_BACK if typ == VIPC_RGB else VisionStreamType.VISION_STREAM_YUV_BACK
vipc_server.send(stream, msg_bytes, i, sof, eof)
else:
send_funcs[typ](msg_bytes)
except MultiplePublishersError:
del send_funcs[typ]