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regen: ecamera support (#27999)

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* Add wideRoadCameraState support in regen

* Fix for ecam FrameReader when use_route_meta

* Pylint fixes
This commit is contained in:
Kacper Rączy
2023-04-21 19:43:04 -07:00
committed by GitHub
parent 2bc761acee
commit eee7dd082f
2 changed files with 22 additions and 7 deletions
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selfdrive/test/process_replay/process_replay.py
+1 -1
View File
@@ -279,7 +279,7 @@ CONFIGS = [
fake_pubsubmaster=True,
submaster_config={
'ignore_avg_freq': ['radarState', 'longitudinalPlan', 'driverCameraState', 'driverMonitoringState'], # dcam is expected at 20 Hz
'ignore_alive': ['wideRoadCameraState'], # TODO: Add to regen
'ignore_alive': [],
}
),
ProcessConfig(
selfdrive/test/process_replay/regen.py
+21 -6
View File
@@ -14,7 +14,7 @@ from cereal.services import service_list
from cereal.visionipc import VisionIpcServer, VisionStreamType
from common.params import Params
from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot
from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size
from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
from panda.python import Panda
from selfdrive.car.toyota.values import EPS_SCALE
from selfdrive.manager.process import ensure_running
@@ -123,8 +123,9 @@ def replay_cameras(lr, frs, disable_tqdm=False):
("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
]
tici_cameras = [
("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
("driverCameraState", DT_MDL, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
("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),
]
def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
@@ -311,15 +312,28 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
return seg_path
def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDATA, disable_tqdm=False):
def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False):
if use_route_meta:
r = Route(route)
lr = LogReader(r.log_paths()[sidx])
fr = FrameReader(r.camera_paths()[sidx])
if r.ecamera_paths()[sidx] is not None:
wfr = FrameReader(r.ecamera_paths()[sidx])
else:
wfr = None
else:
lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
rpath = regen_segment(lr, {'roadCameraState': fr}, outdir=outdir, disable_tqdm=disable_tqdm)
device_type = next(iter(lr)).initData.deviceType
if device_type == 'tici':
wfr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
else:
wfr = None
frs = {'roadCameraState': fr}
if wfr is not None:
frs['wideRoadCameraState'] = wfr
rpath = regen_segment(lr, frs, outdir=outdir, disable_tqdm=disable_tqdm)
# compress raw rlog before uploading
with open(os.path.join(rpath, "rlog"), "rb") as f:
@@ -344,7 +358,8 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDA
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Generate new segments from old ones")
parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
parser.add_argument("route", type=str, help="The source route")
parser.add_argument("seg", type=int, help="Segment in source route")
args = parser.parse_args()
regen_and_save(args.route, args.seg, args.upload)
regen_and_save(args.route, args.seg, args.upload, outdir=args.outdir)