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model_replay: allow skipping modeld/dmodeld (#30365)

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* skip model

* sa

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Justin Newberry
2023-11-02 21:10:11 -04:00
committed by GitHub
parent 676ba9f951
commit c52f2ec19b
1 changed files with 9 additions and 5 deletions
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selfdrive/test/process_replay/model_replay.py
+9 -5
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@@ -23,6 +23,7 @@ MAX_FRAMES = 100 if PC else 600
NAV_FRAMES = 50 NAV_FRAMES = 50
NO_NAV = "NO_NAV" in os.environ NO_NAV = "NO_NAV" in os.environ
NO_MODEL = "NO_MODEL" in os.environ
SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0"))) SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
@@ -161,8 +162,10 @@ if __name__ == "__main__":
else: else:
os.environ['MAPS_HOST'] = BASE_URL.rstrip('/') os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
log_msgs = []
# run replays # run replays
log_msgs = model_replay(lr, frs) if not NO_MODEL:
log_msgs += model_replay(lr, frs)
if not NO_NAV: if not NO_NAV:
log_msgs += nav_model_replay(lr) log_msgs += nav_model_replay(lr)
@@ -177,10 +180,11 @@ if __name__ == "__main__":
cmp_log = [] cmp_log = []
# logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel) # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry")) if not NO_MODEL:
cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2] model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES] dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
if not NO_NAV: if not NO_NAV:
nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"]) nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"])
nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3] nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3]