move can replay to segmentrangereader (#30971)

can replay

tools/replay/can_replay.py

@@ -4,13 +4,11 @@ import os
 import time
 import threading
 import multiprocessing
-from tqdm import tqdm
 
 os.environ['FILEREADER_CACHE'] = '1'
 
 from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
-from openpilot.tools.plotjuggler.juggle import load_segment
 from openpilot.tools.lib.srreader import SegmentRangeReader
 from panda import Panda, PandaJungle
 
@@ -92,18 +90,21 @@ if __name__ == "__main__":
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
   args = parser.parse_args()
 
+  def process(lr):
+    return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+
   print("Loading log...")
   if args.route_or_segment_name is None:
-    ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
-    REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
+    args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16"
+
+  sr = SegmentRangeReader(args.route_or_segment_name)
+
+  with multiprocessing.Pool(24) as pool:
     CAN_MSGS = []
-    logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
-    with multiprocessing.Pool(24) as pool:
-      for lr in tqdm(pool.map(load_segment, logs)):
-        CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
-  else:
-    lr = SegmentRangeReader(args.route_or_segment_name)
-    CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+    for p in pool.map(process, sr.lrs):
+      CAN_MSGS.extend(p)
+
+  print("Finished loading...")
 
   # set both to cycle ignition
   IGN_ON = int(os.getenv("ON", "0"))