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regen: remove support for fake extra vision client (#28520)

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* Remove extra client from camera replay

* Fix another device type check
This commit is contained in:
Kacper Rączy
2023-06-14 01:13:20 +02:00
committed by GitHub
parent 242e8d2ca8
commit 15fcd0d9d4
1 changed files with 10 additions and 14 deletions
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selfdrive/test/process_replay/regen.py
+10 -14
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@@ -120,19 +120,17 @@ def replay_service(s, msgs):
def replay_cameras(lr, frs, disable_tqdm=False):
eon_cameras = [
("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD),
("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER),
]
tici_cameras = [
("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, False),
("wideRoadCameraState", DT_MDL, tici_e_frame_size, VisionStreamType.VISION_STREAM_WIDE_ROAD, False),
("driverCameraState", DT_DMON, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD),
("wideRoadCameraState", DT_MDL, tici_e_frame_size, VisionStreamType.VISION_STREAM_WIDE_ROAD),
("driverCameraState", DT_DMON, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER),
]
def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
def replay_camera(s, stream, dt, vipc_server, frames, size):
services = [(s, stream)]
if use_extra_client:
services.append(("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD))
pm = messaging.PubMaster([s for s, _ in services])
rk = Ratekeeper(1 / dt, print_delay_threshold=None)
@@ -154,12 +152,12 @@ def replay_cameras(lr, frs, disable_tqdm=False):
vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
init_data = [m for m in lr if m.which() == 'initData'][0]
cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras
cameras = tici_cameras if (init_data.initData.deviceType in ['tici', 'tizi']) else eon_cameras
# init vipc server and cameras
p = []
vs = VisionIpcServer("camerad")
for (s, dt, size, stream, use_extra_client) in cameras:
for (s, dt, size, stream) in cameras:
fr = frs.get(s, None)
frames = None
@@ -171,10 +169,8 @@ def replay_cameras(lr, frs, disable_tqdm=False):
frames.append(img.flatten().tobytes())
vs.create_buffers(stream, 40, False, size[0], size[1])
if use_extra_client:
vs.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, size[0], size[1])
p.append(multiprocessing.Process(target=replay_camera,
args=(s, stream, dt, vs, frames, size, use_extra_client)))
args=(s, stream, dt, vs, frames, size)))
vs.start_listener()
return vs, p
@@ -307,7 +303,7 @@ def regen_and_save(route, sidx, daemons="all", upload=False, use_route_meta=Fals
lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
device_type = next(iter(lr)).initData.deviceType
if device_type == 'tici':
if device_type in ['tici', 'tizi']:
wfr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
else:
wfr = None