From d8fb6f3ca4ea29a5591830c2d16cbd14f969cc1a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 26 Feb 2025 23:26:59 -0800 Subject: [PATCH] safety replay: use lr.first() --- tests/safety_replay/replay_drive.py | 20 +++++++------------- 1 file changed, 7 insertions(+), 13 deletions(-) diff --git a/tests/safety_replay/replay_drive.py b/tests/safety_replay/replay_drive.py index 81976323..db20b67e 100755 --- a/tests/safety_replay/replay_drive.py +++ b/tests/safety_replay/replay_drive.py @@ -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)