mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-22 13:33:55 +08:00
c18e7da3c2
* locationd at 20hz * update ref * bump cereal * dont modify global state * add scons files * ecef2geodetic and geodetic2ecef * Finish local coords class * Add header file * Add orientation.cc * cleanup * Add functions to header file * Add cython wrapper * y u no work? * This passes the tests * test rot2quat and quat2rot * Teste euler2rot and rot2euler * rot_matrix * test ecef_euler_from_ned and ned_euler_from_ecef * add benchmark * Add test * Consistent newlines * no more radians supported in geodetic * test localcoord single * test localcoord single * all tests pass * Unused import * Add alternate namings * Add source for formulas * no explicit tests needed * remove benchmark * Add release files * Typo * Remove print statement * no access to raw transform matrix * temporarily add tolerance * handcode quat2euler * update ref
82 lines
2.0 KiB
Python
Executable File
82 lines
2.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import bz2
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import os
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import sys
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import numbers
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import dictdiffer
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if "CI" in os.environ:
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def tqdm(x):
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return x
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else:
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from tqdm import tqdm # type: ignore
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from tools.lib.logreader import LogReader
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def save_log(dest, log_msgs):
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dat = b""
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for msg in tqdm(log_msgs):
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dat += msg.as_builder().to_bytes()
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dat = bz2.compress(dat)
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with open(dest, "wb") as f:
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f.write(dat)
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def remove_ignored_fields(msg, ignore):
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msg = msg.as_builder()
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for key in ignore:
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attr = msg
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keys = key.split(".")
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if msg.which() not in key and len(keys) > 1:
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continue
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for k in keys[:-1]:
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try:
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attr = getattr(msg, k)
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except AttributeError:
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break
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else:
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v = getattr(attr, keys[-1])
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if isinstance(v, bool):
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val = False
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elif isinstance(v, numbers.Number):
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val = 0
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else:
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raise NotImplementedError
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setattr(attr, keys[-1], val)
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return msg.as_reader()
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def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None):
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if ignore_fields is None:
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ignore_fields = []
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if ignore_msgs is None:
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ignore_msgs = []
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log1, log2 = [list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)]
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assert len(log1) == len(log2), "logs are not same length: " + str(len(log1)) + " VS " + str(len(log2))
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diff = []
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for msg1, msg2 in tqdm(zip(log1, log2)):
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if msg1.which() != msg2.which():
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print(msg1, msg2)
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raise Exception("msgs not aligned between logs")
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msg1_bytes = remove_ignored_fields(msg1, ignore_fields).as_builder().to_bytes()
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msg2_bytes = remove_ignored_fields(msg2, ignore_fields).as_builder().to_bytes()
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if msg1_bytes != msg2_bytes:
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msg1_dict = msg1.to_dict(verbose=True)
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msg2_dict = msg2.to_dict(verbose=True)
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dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
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diff.extend(dd)
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return diff
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if __name__ == "__main__":
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log1 = list(LogReader(sys.argv[1]))
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log2 = list(LogReader(sys.argv[2]))
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print(compare_logs(log1, log2, sys.argv[3:]))
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