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model replay: less frames and less complexity (#35427)

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* Revert "ci: faster model_replay (#34036)"

This reverts commit 847a5ce1f3.

* fix conflict

* trigger on test change

* zst

* give start and end frame

* unused flags

* no print

* whitespace

* fix plotting

* slice correct

* no print

* Just start from beginning
This commit is contained in:
Harald Schäfer
2025-06-02 21:54:37 -07:00
committed by GitHub
parent f78ba72a85
commit 5505338ffb
2 changed files with 20 additions and 70 deletions
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68
selfdrive/test/process_replay/model_replay.py
View File

@@ -15,15 +15,15 @@ from openpilot.system.hardware import PC
from openpilot.tools.lib.openpilotci import get_url
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.logreader import LogReader, save_log
from openpilot.tools.lib.github_utils import GithubUtils
TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404"
SEGMENT = 4
MAX_FRAMES = 100 if PC else 400
START_FRAME = 0
END_FRAME = 60
NO_MODEL = "NO_MODEL" in os.environ
SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
@@ -125,16 +125,15 @@ def comment_replay_report(proposed, master, full_logs):
comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots
GITHUB.comment_on_pr(comment, PR_BRANCH, "commaci-public", True)
def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
def trim_logs(logs, start_frame, end_frame, frs_types, include_all_types):
all_msgs = []
cam_state_counts = defaultdict(int)
# keep adding messages until cam states are equal to MAX_FRAMES
for msg in sorted(logs, key=lambda m: m.logMonoTime):
all_msgs.append(msg)
if msg.which() in frs_types:
cam_state_counts[msg.which()] += 1
if all(cam_state_counts[state] == max_frames for state in frs_types):
if any(cam_state_counts[state] >= start_frame for state in frs_types):
all_msgs.append(msg)
if all(cam_state_counts[state] == end_frame for state in frs_types):
break
if len(include_all_types) != 0:
@@ -146,9 +145,9 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
def model_replay(lr, frs):
# modeld is using frame pairs
modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"},
{"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"})
dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"roadCameraState", "wideRoadCameraState"},
{"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"})
dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"driverCameraState"}, {"driverEncodeIdx", "carParams", "can"})
if not SEND_EXTRA_INPUTS:
modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
@@ -165,9 +164,6 @@ def model_replay(lr, frs):
dmonitoringmodeld = get_process_config("dmonitoringmodeld")
modeld_msgs = replay_process(modeld, modeld_logs, frs)
if isinstance(frs['roadCameraState'], NumpyFrameReader):
del frs['roadCameraState'].frames
del frs['wideRoadCameraState'].frames
dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
msgs = modeld_msgs + dmonitoringmodeld_msgs
@@ -198,42 +194,21 @@ def model_replay(lr, frs):
return msgs
def get_frames():
regen_cache = "--regen-cache" in sys.argv
cache = "--cache" in sys.argv or not PC or regen_cache
videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc')
cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
if cache:
frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
os.makedirs(frames_cache, exist_ok=True)
cache_size = 200
for v in videos:
if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache:
f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12")
print(f'Caching {v}...')
for i in range(MAX_FRAMES//cache_size):
np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1])
del f
return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)}
else:
return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)}
if __name__ == "__main__":
update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
replay_dir = os.path.dirname(os.path.abspath(__file__))
# load logs
lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
frs = get_frames()
frs = {
'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
}
log_msgs = []
# run replays
if not NO_MODEL:
log_msgs += model_replay(lr, frs)
log_msgs += model_replay(lr, frs)
# get diff
failed = False
@@ -242,13 +217,10 @@ if __name__ == "__main__":
try:
all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn)))
cmp_log = []
# logs are ordered based on type: modelV2, drivingModelData, driverStateV2
if not NO_MODEL:
model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
cmp_log += all_logs[model_start_index+START_FRAME*3:model_start_index + END_FRAME*3]
dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
cmp_log += all_logs[dmon_start_index+START_FRAME:dmon_start_index + END_FRAME]
ignore = [
'logMonoTime',

22
tools/lib/framereader.py
View File

@@ -535,25 +535,3 @@ def FrameIterator(fn, pix_fmt, **kwargs):
else:
for i in range(fr.frame_count):
yield fr.get(i, pix_fmt=pix_fmt)[0]
class NumpyFrameReader:
def __init__(self, name, w, h, cache_size):
self.name = name
self.pos = -1
self.frames = None
self.w = w
self.h = h
self.cache_size = cache_size
def close(self):
pass
def get(self, num, count=1, pix_fmt="nv12"):
num -= 1
q = num // self.cache_size
if q != self.pos:
del self.frames
self.pos = q
self.frames = np.load(f'{self.name}_{self.pos}.npy')
return [self.frames[num % self.cache_size]]