Test navmodel (#28272)

* Test navmodel

* removed comment

* Updated model_replay ref

* read tiles from azure bucket

* updated ref commit
old-commit-hash: 2d34083cd8a507ed06f0139f496930cfe4bde820

Jenkinsfile

@@ -220,7 +220,7 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
+              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
             ])
           }
         }

selfdrive/test/openpilotci.py

@@ -11,10 +11,7 @@ def get_url(route_name, segment_num, log_type="rlog"):
   ext = "hevc" if log_type.endswith('camera') else "bz2"
   return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}"
 
-
-def upload_file(path, name):
-  from azure.storage.blob import BlockBlobService  # pylint: disable=import-error
-
+def get_sas_token():
   sas_token = os.environ.get("AZURE_TOKEN", None)
   if os.path.isfile(TOKEN_PATH):
     sas_token = open(TOKEN_PATH).read().strip()
@@ -22,9 +19,20 @@ def upload_file(path, name):
   if sas_token is None:
     sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \
                                          --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
-  service = BlockBlobService(account_name="commadataci", sas_token=sas_token)
+
+  return sas_token
+
+def upload_bytes(data, name):
+  from azure.storage.blob import BlockBlobService  # pylint: disable=import-error
+  service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token())
+  service.create_blob_from_bytes("openpilotci", name, data)
+  return BASE_URL + name
+
+def upload_file(path, name):
+  from azure.storage.blob import BlockBlobService  # pylint: disable=import-error
+  service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token())
   service.create_blob_from_path("openpilotci", name, path)
-  return "https://commadataci.blob.core.windows.net/openpilotci/" + name
+  return BASE_URL + name
 
 
 if __name__ == "__main__":

selfdrive/test/process_replay/model_replay.py

@@ -25,7 +25,7 @@ SEGMENT = 6
 MAX_FRAMES = 100 if PC else 600
 NAV_FRAMES = 50
 
-NO_NAV = "NO_NAV" in os.environ  # TODO: make map renderer work in CI
+NO_NAV = "NO_NAV" in os.environ
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 
 VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
@@ -209,6 +209,31 @@ if __name__ == "__main__":
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
   }
 
+  # Update tile refs
+  if update:
+    import urllib
+    import requests
+    import threading
+    import http.server
+    from selfdrive.test.openpilotci import upload_bytes
+    os.environ['MAPS_HOST'] = 'http://localhost:5000'
+
+    class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
+      def do_GET(self):
+        assert len(self.path) > 10  # Sanity check on path length
+        r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
+        upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
+        self.send_response(r.status_code)
+        self.send_header('Content-type','text/html')
+        self.end_headers()
+        self.wfile.write(r.content)
+
+    server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
+    thread = threading.Thread(None, server.serve_forever, daemon=True)
+    thread.start()
+  else:
+    os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
+
   # run replays
   log_msgs = model_replay(lr, frs)
   if not NO_NAV:

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-e3cf1856830902bede2d1c9ca3d0d60e5504ae20
+91bdaeae5a7141ff6bb6fd80672521c8d63f644c