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process_replay: support lane changes in model_replay (#34777)

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* lane changes need to see these

* newline

* add lc probs
This commit is contained in:
ZwX1616
2025-03-04 20:24:17 -08:00
committed by GitHub
parent 3e8e7e8e6d
commit 3f9437e249
2 changed files with 5 additions and 2 deletions
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selfdrive/test/process_replay/model_replay.py
+4 -1
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@@ -66,6 +66,8 @@ def generate_report(proposed, master, tmp, commit):
(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.desireState, 3), "desireState.laneChangeLeft"),
(lambda x: get_idx_if_non_empty(x.meta.desireState, 4), "desireState.laneChangeRight"),
(lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs")
], "modelV2")
DriverStateV2_Plots = zl([
@@ -143,7 +145,8 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
def model_replay(lr, frs):
# modeld is using frame pairs
modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"})
modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"},
{"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"})
dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
if not SEND_EXTRA_INPUTS:
selfdrive/test/process_replay/process_replay.py
+1 -1
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@@ -568,7 +568,7 @@ CONFIGS = [
),
ProcessConfig(
proc_name="modeld",
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"],
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"],
subs=["modelV2", "drivingModelData", "cameraOdometry"],
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
should_recv_callback=ModeldCameraSyncRcvCallback(),