better can replay script

selfdrive/debug/internal/can_replay.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import os
+import time
+from multiprocessing import Process
+from tqdm import tqdm
+
+os.environ['FILEREADER_CACHE'] = '1'
+
+from common.realtime import config_realtime_process, Ratekeeper
+from selfdrive.boardd.boardd import can_capnp_to_can_list
+from tools.lib.logreader import LogReader
+
+from panda import Panda
+try:
+  from panda_jungle import PandaJungle
+except Exception:
+  PandaJungle = None # type: ignore
+
+
+ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
+NUM_SEGS = 10 # route has 82 segments available
+
+print("Loading log...")
+CAN_MSGS = []
+for i in tqdm(list(range(1, NUM_SEGS))):
+  log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
+  lr = LogReader(log_url)
+  CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+
+def send_thread(sender, core):
+  config_realtime_process(core, 55)
+
+  if "Jungle" in str(type(sender)):
+    sender.set_ignition(False)
+    time.sleep(3)
+    sender.set_ignition(True)
+  else:
+    sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  sender.set_can_loopback(False)
+
+  log_idx = 0
+  rk = Ratekeeper(100)
+  while True:
+    snd = CAN_MSGS[log_idx]
+    log_idx = (log_idx + 1) % len(CAN_MSGS)
+    snd = list(filter(lambda x: x[-1] <= 2, snd))
+    sender.can_send_many(snd)
+
+    # Drain panda message buffer
+    sender.can_recv()
+    rk.keep_time()
+
+def connect():
+  serials = {}
+  while True:
+    # look for new devices
+    for p in [Panda, PandaJungle]:
+      if p is None:
+        continue
+
+      for s in p.list():
+        if s not in serials:
+          print("starting send thread for", s)
+          serials[s] = Process(target=send_thread, args=(p(s), 3))
+          serials[s].start()
+
+    # try to join all send procs
+    cur_serials = serials.copy()
+    for s, p in cur_serials.items():
+      p.join(0.01)
+      if p.exitcode is not None:
+        del serials[s]
+
+    time.sleep(1)
+
+if __name__ == "__main__":
+  while True:
+    try:
+      connect()
+    except Exception:
+      pass