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safety replay: use lr.first()

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This commit is contained in:
Shane Smiskol
2025-02-26 23:26:59 -08:00
parent a744fa7780
commit d8fb6f3ca4
1 changed files with 7 additions and 13 deletions
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20
tests/safety_replay/replay_drive.py
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@@ -85,19 +85,13 @@ if __name__ == "__main__":
lr = LogReader(args.route_or_segment_name[0], sort_by_time=True)
if None in (args.mode, args.param, args.alternative_experience):
for msg in lr:
if msg.which() == 'carParams':
if args.mode is None:
args.mode = msg.carParams.safetyConfigs[-1].safetyModel.raw
if args.param is None:
args.param = msg.carParams.safetyConfigs[-1].safetyParam
if args.alternative_experience is None:
args.alternative_experience = msg.carParams.alternativeExperience
break
else:
raise Exception("carParams not found in log. Set safety mode and param manually.")
lr.reset()
CP = lr.first('carParams')
if args.mode is None:
args.mode = CP.safetyConfigs[-1].safetyModel.raw
if args.param is None:
args.param = CP.safetyConfigs[-1].safetyParam
if args.alternative_experience is None:
args.alternative_experience = CP.alternativeExperience
print(f"replaying {args.route_or_segment_name[0]} with safety mode {args.mode}, param {args.param}, alternative experience {args.alternative_experience}")
replay_drive(lr, args.mode, args.param, args.alternative_experience, segment=len(lr.logreader_identifiers) == 1)