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openpilot v0.9.3 release

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date: 2023-06-16T05:25:00
master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
This commit is contained in:
Vehicle Researcher
2023-06-16 05:25:01 +00:00
parent cfd8323ccb
commit c39abc00af
188 changed files with 4182 additions and 2011 deletions
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tools/lib/helpers.py
+12
View File
@@ -1,3 +1,4 @@
import bz2
import datetime
TIME_FMT = "%Y-%m-%d--%H-%M-%S"
@@ -13,8 +14,19 @@ class RE:
EXPLORER_FILE = r'^(?P<segment_name>{})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME)
OP_SEGMENT_DIR = r'^(?P<segment_name>{})$'.format(SEGMENT_NAME)
def timestamp_to_datetime(t: str) -> datetime.datetime:
"""
Convert an openpilot route timestamp to a python datetime
"""
return datetime.datetime.strptime(t, TIME_FMT)
def save_log(dest, log_msgs, compress=True):
dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
if compress:
dat = bz2.compress(dat)
with open(dest, "wb") as f:
f.write(dat)
tools/replay/logreader.cc
+5 -9
View File
@@ -68,20 +68,16 @@ bool LogReader::parse(const std::set<cereal::Event::Which> &allow, std::atomic<b
try {
kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
while (words.size() > 0 && !(abort && *abort)) {
if (!allow.empty()) {
capnp::FlatArrayMessageReader reader(words);
auto which = reader.getRoot<cereal::Event>().which();
if (allow.find(which) == allow.end()) {
words = kj::arrayPtr(reader.getEnd(), words.end());
continue;
}
}
#ifdef HAS_MEMORY_RESOURCE
Event *evt = new (mbr_) Event(words);
#else
Event *evt = new Event(words);
#endif
if (!allow.empty() && allow.find(evt->which) == allow.end()) {
delete evt;
words = kj::arrayPtr(evt->reader.getEnd(), words.end());
continue;
}
// Add encodeIdx packet again as a frame packet for the video stream
if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
tools/replay/main.cc
+4 -1
View File
@@ -8,6 +8,7 @@
int main(int argc, char *argv[]) {
QCoreApplication app(argc, argv);
const QStringList base_blacklist = {"uiDebug", "userFlag"};
const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
{"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
{"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
@@ -16,6 +17,8 @@ int main(int argc, char *argv[]) {
{"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
{"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"},
{"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
{"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") +
". this may causes issues when used along with UI"}
};
QCommandLineParser parser;
@@ -56,7 +59,7 @@ int main(int argc, char *argv[]) {
op_prefix.reset(new OpenpilotPrefix(prefix.toStdString()));
}
Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app);
Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app);
if (!parser.value("c").isEmpty()) {
replay->setSegmentCacheLimit(parser.value("c").toInt());
}
tools/replay/replay.cc
+36 -19
View File
@@ -10,14 +10,20 @@
#include "system/hardware/hw.h"
#include "tools/replay/util.h"
Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
: sm(sm_), flags_(flags), QObject(parent) {
std::vector<const char *> s;
auto event_struct = capnp::Schema::from<cereal::Event>().asStruct();
sockets_.resize(event_struct.getUnionFields().size());
for (const auto &it : services) {
uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue();
if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) &&
!(flags & REPLAY_FLAG_ALL_SERVICES) &&
!allow.contains(it.name)) {
continue;
}
if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) {
uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue();
sockets_[which] = it.name;
if (!allow.empty() || !block.empty()) {
allow_list.insert((cereal::Event::Which)which);
@@ -30,6 +36,9 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
// the following events are needed for replay to work properly.
allow_list.insert(cereal::Event::Which::INIT_DATA);
allow_list.insert(cereal::Event::Which::CAR_PARAMS);
if (sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) {
allow_list.insert(cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D);
}
}
qDebug() << "services " << s;
@@ -128,8 +137,18 @@ void Replay::seekToFlag(FindFlag flag) {
void Replay::buildTimeline() {
uint64_t engaged_begin = 0;
bool engaged = false;
auto alert_status = cereal::ControlsState::AlertStatus::NORMAL;
auto alert_size = cereal::ControlsState::AlertSize::NONE;
uint64_t alert_begin = 0;
TimelineType alert_type = TimelineType::None;
std::string alert_type;
const TimelineType timeline_types[] = {
[(int)cereal::ControlsState::AlertStatus::NORMAL] = TimelineType::AlertInfo,
[(int)cereal::ControlsState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning,
[(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
};
for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) {
LogReader log;
@@ -141,26 +160,24 @@ void Replay::buildTimeline() {
if (e->which == cereal::Event::Which::CONTROLS_STATE) {
auto cs = e->event.getControlsState();
if (!engaged_begin && cs.getEnabled()) {
if (engaged != cs.getEnabled()) {
if (engaged) {
std::lock_guard lk(timeline_lock);
timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged});
}
engaged_begin = e->mono_time;
} else if (engaged_begin && !cs.getEnabled()) {
std::lock_guard lk(timeline_lock);
timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged});
engaged_begin = 0;
engaged = cs.getEnabled();
}
if (!alert_begin && cs.getAlertType().size() > 0) {
alert_begin = e->mono_time;
alert_type = TimelineType::AlertInfo;
if (cs.getAlertStatus() != cereal::ControlsState::AlertStatus::NORMAL) {
alert_type = cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT
? TimelineType::AlertWarning
: TimelineType::AlertCritical;
if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
std::lock_guard lk(timeline_lock);
timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), timeline_types[(int)alert_status]});
}
} else if (alert_begin && cs.getAlertType().size() == 0) {
std::lock_guard lk(timeline_lock);
timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), alert_type});
alert_begin = 0;
alert_begin = e->mono_time;
alert_type = cs.getAlertType().cStr();
alert_size = cs.getAlertSize();
alert_status = cs.getAlertStatus();
}
} else if (e->which == cereal::Event::Which::USER_FLAG) {
std::lock_guard lk(timeline_lock);
tools/replay/replay.h
+3 -2
View File
@@ -22,6 +22,7 @@ enum REPLAY_FLAGS {
REPLAY_FLAG_NO_HW_DECODER = 0x0100,
REPLAY_FLAG_FULL_SPEED = 0x0200,
REPLAY_FLAG_NO_VIPC = 0x0400,
REPLAY_FLAG_ALL_SERVICES = 0x0800,
};
enum class FindFlag {
@@ -40,7 +41,7 @@ class Replay : public QObject {
Q_OBJECT
public:
Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr,
Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm = nullptr,
uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
~Replay();
bool load();
@@ -67,7 +68,7 @@ public:
inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); }
inline uint64_t routeStartTime() const { return route_start_ts_; }
inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
inline int totalSeconds() const { return segments_.size() * 60; }
inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; }
inline void setSpeed(float speed) { speed_ = speed; }
inline float getSpeed() const { return speed_; }
inline const std::vector<Event *> *events() const { return events_.get(); }