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Add driverStateV2 plots to model replay (#33967)

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This commit is contained in:
ZwX1616
2024-11-07 21:49:15 -08:00
committed by GitHub
parent 700a5651bd
commit a4848ceee9
2 changed files with 9 additions and 4 deletions
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3
selfdrive/modeld/dmonitoringmodeld.py
View File

@@ -139,7 +139,6 @@ def main():
pm = PubMaster(["driverStateV2"])
calib = np.zeros(CALIB_LEN, dtype=np.float32)
# last = 0
while True:
buf = vipc_client.recv()
@@ -155,8 +154,6 @@ def main():
t2 = time.perf_counter()
pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
# print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
# last = t1
if __name__ == "__main__":

10
selfdrive/test/process_replay/model_replay.py
View File

@@ -58,10 +58,18 @@ def generate_report(proposed, master, tmp, commit):
(lambda x: x.laneLines[1].y[0], "laneLines.y"),
(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
], "modelV2")
DriverStateV2_Plots = zl([
(lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
(lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
(lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
(lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
(lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
(lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
], "driverStateV2")
return [plot(map(v[0], get_event(proposed, event)), \
map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
for v,event in [*ModelV2_Plots]]
for v,event in ([*ModelV2_Plots] + [*DriverStateV2_Plots])]
def create_table(title, files, link, open_table=False):
if not files: