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Not Too Shabby Model (#34484)

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* b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700

* replay

* model_replay: support empty
This commit is contained in:
YassineYousfi
2025-01-28 12:16:13 -08:00
committed by GitHub
parent 82722217be
commit 2eb3585dae
4 changed files with 28 additions and 24 deletions
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selfdrive/test/process_replay/model_replay.py
+14 -11
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@@ -57,21 +57,24 @@ def get_event(logs, event):
def zl(array, fill):
return zip_longest(array, [], fillvalue=fill)
def get_idx_if_non_empty(l, idx=None):
return l if idx is None else (l[idx] if len(l) > 0 else None)
def generate_report(proposed, master, tmp, commit):
ModelV2_Plots = zl([
(lambda x: x.velocity.x[0], "velocity.x"),
(lambda x: x.action.desiredCurvature, "desiredCurvature"),
(lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
(lambda x: x.laneLines[1].y[0], "laneLines.y"),
#(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
(lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
(lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
(lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
(lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
(lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs")
], "modelV2")
DriverStateV2_Plots = zl([
(lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
(lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
(lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
(lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
(lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
(lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
(lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.notReadyProb, 0), "leftDriverData.notReadyProb0"),
(lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
], "driverStateV2")
return [plot(map(v[0], get_event(proposed, event)), \