mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-27 22:23:54 +08:00
Code Issues Packages Projects Releases Wiki Activity

regen: send vipc_client_extra frames (#24331)

Browse Source 
* send extra frames to fix regen

* for sanity

* not used

* minimal changes
This commit is contained in:
Shane Smiskol
2022-04-26 00:15:09 -07:00
committed by GitHub
parent 3694f9801c
commit a8e632bb98
2 changed files with 13 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
selfdrive/test/process_replay/process_replay.py
View File

@@ -347,6 +347,7 @@ def setup_env(simulation=False):
params.put_bool("OpenpilotEnabledToggle", True)
params.put_bool("Passive", False)
params.put_bool("DisengageOnAccelerator", True)
params.put_bool("EnableWideCamera", False)
os.environ["NO_RADAR_SLEEP"] = "1"
os.environ["REPLAY"] = "1"

20
selfdrive/test/process_replay/regen.py
View File

@@ -114,19 +114,19 @@ def replay_service(s, msgs):
def replay_cameras(lr, frs):
eon_cameras = [
("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD),
("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER),
("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
("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),
("driverCameraState", DT_MDL, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER),
("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
("driverCameraState", DT_MDL, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
]
def replay_camera(s, stream, dt, vipc_server, frames, size):
def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
pm = messaging.PubMaster([s, ])
rk = Ratekeeper(1 / dt, print_delay_threshold=None)
img = b"\x00" * int(size[0]*size[1]*3/2)
img = b"\x00" * int(size[0] * size[1] * 3 / 2)
while True:
if frames is not None:
img = frames[rk.frame % len(frames)]
@@ -141,6 +141,8 @@ def replay_cameras(lr, frs):
pm.send(s, m)
vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
if use_extra_client:
vipc_server.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, 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
@@ -148,7 +150,7 @@ def replay_cameras(lr, frs):
# init vipc server and cameras
p = []
vs = VisionIpcServer("camerad")
for (s, dt, size, stream) in cameras:
for (s, dt, size, stream, use_extra_client) in cameras:
fr = frs.get(s, None)
frames = None
@@ -160,8 +162,10 @@ def replay_cameras(lr, frs):
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)))
args=(s, stream, dt, vs, frames, size, use_extra_client)))
# hack to make UI work
vs.create_buffers(VisionStreamType.VISION_STREAM_RGB_ROAD, 4, True, eon_f_frame_size[0], eon_f_frame_size[1])