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tools: improved CAN replay (#27975)

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This commit is contained in:
Adeeb Shihadeh
2023-04-19 11:46:22 -07:00
committed by GitHub
parent 38b99b5461
commit e3bd28bddf
2 changed files with 39 additions and 16 deletions
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30
tools/replay/README.md
View File

@@ -5,16 +5,16 @@
`replay` replays all the messages logged while running openpilot.
```bash
# Log in via browser to have access to non-public routes
# Log in via browser to have access to routes from your comma account
python tools/lib/auth.py
# Start a replay
tools/replay/replay <route-name>
# Example:
# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
# or use --demo to replay the default demo route:
# tools/replay/replay --demo
tools/replay/replay --demo
# watch the replay with the normal openpilot UI
cd selfdrive/ui && ./ui
@@ -64,12 +64,24 @@ cd selfdrive/ui && ./watch3
Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the [jungle repo](https://github.com/commaai/panda_jungle) for more info.
`can_replay.py` is a convenient script for when any CAN data will do.
In order to run your device as if it was in a car:
* connect a panda jungle to your PC
* connect a comma device or panda to the jungle via OBD-C
* run `can_replay.py`
In order to replay specific route:
```bash
MOCK=1 selfdrive/boardd/tests/boardd_old.py
``` bash
batman:replay$ ./can_replay.py -h
usage: can_replay.py [-h] [route_or_segment_name]
# In another terminal:
tools/replay/replay <route-name>
Replay CAN messages from a route to all connected pandas and jungles
in a loop.
positional arguments:
route_or_segment_name
The route or segment name to replay. If not
specified, a default public route will be
used. (default: None)
optional arguments:
-h, --help show this help message and exit
```

25
tools/replay/can_replay.py
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@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import argparse
import os
import time
import threading
@@ -11,6 +12,7 @@ from common.basedir import BASEDIR
from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
from selfdrive.boardd.boardd import can_capnp_to_can_list
from tools.plotjuggler.juggle import load_segment
from tools.lib.logreader import logreader_from_route_or_segment
from panda import Panda
try:
@@ -87,18 +89,27 @@ def connect():
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
args = parser.parse_args()
if not panda_jungle_imported:
print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m")
print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m")
print("Loading log...")
ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available
CAN_MSGS = []
logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
with multiprocessing.Pool(24) as pool:
for lr in tqdm(pool.map(load_segment, logs)):
CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
if args.route_or_segment_name is None:
ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available
CAN_MSGS = []
logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
with multiprocessing.Pool(24) as pool:
for lr in tqdm(pool.map(load_segment, logs)):
CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
else:
lr = logreader_from_route_or_segment(args.route_or_segment_name)
CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
# set both to cycle ignition
IGN_ON = int(os.getenv("ON", "0"))