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process_replay: use frame dimensions from FrameReader (#30332)

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Use dimensions from FrameReader to setup vipc server
old-commit-hash: 4094d584f3b7788d50eb90110b6f3d7651c96863
This commit is contained in:
Kacper Rączy
2023-10-25 15:46:16 -07:00
committed by GitHub
parent 5fc85a7fba
commit 1027a60851
1 changed files with 11 additions and 10 deletions
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selfdrive/test/process_replay/process_replay.py
+11 -10
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@@ -27,6 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
from openpilot.selfdrive.test.process_replay.migration import migrate_all
from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
from openpilot.tools.lib.logreader import LogIterable
from openpilot.tools.lib.framereader import BaseFrameReader
# Numpy gives different results based on CPU features after version 19
NUMPY_TOLERANCE = 1e-7
@@ -201,16 +202,15 @@ class ProcessContainer:
self.environ_config = environ_config
def _setup_vision_ipc(self, all_msgs):
def _setup_vision_ipc(self, all_msgs: LogIterable, frs: Dict[str, Any]):
assert len(self.cfg.vision_pubs) != 0
device_type = next(str(msg.initData.deviceType) for msg in all_msgs if msg.which() == "initData")
vipc_server = VisionIpcServer("camerad")
streams_metas = available_streams(all_msgs)
for meta in streams_metas:
if meta.camera_state in self.cfg.vision_pubs:
vipc_server.create_buffers(meta.stream, 2, False, *meta.frame_sizes[device_type])
frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
vipc_server.start_listener()
self.vipc_server = vipc_server
@@ -224,7 +224,7 @@ class ProcessContainer:
def start(
self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
all_msgs: LogIterable,
all_msgs: LogIterable, frs: Optional[Dict[str, BaseFrameReader]],
fingerprint: Optional[str], capture_output: bool
):
with self.prefix as p:
@@ -241,7 +241,8 @@ class ProcessContainer:
self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs]
if len(self.cfg.vision_pubs) != 0:
self._setup_vision_ipc(all_msgs)
assert frs is not None
self._setup_vision_ipc(all_msgs, frs)
assert self.vipc_server is not None
if capture_output:
@@ -265,7 +266,7 @@ class ProcessContainer:
self.prefix.clean_dirs()
self._clean_env()
def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]:
def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, BaseFrameReader]]) -> List[capnp._DynamicStructReader]:
assert self.rc and self.pm and self.sockets and self.process.proc
output_msgs = []
@@ -622,7 +623,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *
def replay_process(
cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]] = None,
fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
) -> List[capnp._DynamicStructReader]:
@@ -650,7 +651,7 @@ def replay_process(
def _replay_multi_process(
cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, Any]], fingerprint: Optional[str],
cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]], fingerprint: Optional[str],
custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool
) -> List[capnp._DynamicStructReader]:
if fingerprint is not None:
@@ -677,7 +678,7 @@ def _replay_multi_process(
for cfg in cfgs:
container = ProcessContainer(cfg)
containers.append(container)
container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None)
container.start(params_config, env_config, all_msgs, frs, fingerprint, captured_output_store is not None)
all_pubs = {pub for container in containers for pub in container.pubs}
all_subs = {sub for container in containers for sub in container.subs}