IQ.Pilot Prebuilt Release @ ab07000

selfdrive/debug/run_process_on_route.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+import argparse
+
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
+from openpilot.selfdrive.test.process_replay.test_processes import EXCLUDED_PROCS
+from openpilot.tools.lib.logreader import LogReader, save_log
+
+ALLOW_PROCS = {c.proc_name for c in CONFIGS}
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Run process on route and create new logs",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("--fingerprint", help="The fingerprint to use")
+  parser.add_argument("--whitelist-procs", nargs='*', default=ALLOW_PROCS, help="Whitelist given processes (e.g. controlsd)")
+  parser.add_argument("--blacklist-procs", nargs='*', default=EXCLUDED_PROCS, help="Blacklist given processes (e.g. controlsd)")
+  args = parser.parse_args()
+
+  allowed_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
+  cfgs = [c for c in CONFIGS if c.proc_name in allowed_procs]
+
+  inputs = list(LogReader(args.route))
+  outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)
+
+  # Remove message generated by the process under test and merge in the new messages
+  produces = {o.which() for o in outputs}
+  inputs = [i for i in inputs if i.which() not in produces]
+  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
+
+  fn = f"{args.route.replace('/', '_')}_{'_'.join(allowed_procs)}.zst"
+  print(f"Saving log to {fn}")
+  save_log(fn, outputs)