78 lines
2.3 KiB
Python
Executable File
78 lines
2.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import sys
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import math
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import datetime
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from collections import Counter
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from pprint import pprint
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from typing import cast
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from cereal.services import SERVICE_LIST
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from openpilot.tools.lib.logreader import LogReader, ReadMode
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from openpilot.selfdrive.test.process_replay.migration import migrate_all
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if __name__ == "__main__":
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cnt_events: Counter = Counter()
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cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
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cnt_cameras = dict.fromkeys(cams, 0)
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events: list[tuple[float, set[str]]] = []
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alerts: list[tuple[float, str]] = []
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start_time = math.inf
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end_time = -math.inf
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ignition_off = None
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for msg in migrate_all(LogReader(sys.argv[1], ReadMode.QLOG)):
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t = (msg.logMonoTime - start_time) / 1e9
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end_time = max(end_time, msg.logMonoTime)
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start_time = min(start_time, msg.logMonoTime)
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if msg.which() == 'onroadEvents':
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for e in msg.onroadEvents:
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cnt_events[e.name] += 1
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ae = {str(e.name) for e in msg.onroadEvents if e.name not in ('pedalPressed', 'steerOverride', 'gasPressedOverride')}
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if len(events) == 0 or ae != events[-1][1]:
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events.append((t, ae))
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elif msg.which() == 'selfdriveState':
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at = msg.selfdriveState.alertType
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if "/override" not in at or "lanechange" in at.lower():
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if len(alerts) == 0 or alerts[-1][1] != at:
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alerts.append((t, at))
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elif msg.which() == 'pandaStates':
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if ignition_off is None:
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ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
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if not ign:
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ignition_off = msg.logMonoTime
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break
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elif msg.which() in cams:
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cnt_cameras[msg.which()] += 1
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duration = (end_time - start_time) / 1e9
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print("Events")
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pprint(cnt_events)
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print("\n")
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print("Events")
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for t, evt in events:
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print(f"{t:8.2f} {evt}")
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print("\n")
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print("Cameras")
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for k, v in cnt_cameras.items():
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s = SERVICE_LIST[k]
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expected_frames = int(s.frequency * duration / cast(float, s.decimation))
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print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
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print("\n")
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print("Alerts")
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for t, a in alerts:
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print(f"{t:8.2f} {a}")
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print("\n")
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if ignition_off is not None:
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ignition_off = round((ignition_off - start_time) / 1e9, 2)
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print("Ignition off at", ignition_off)
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print("Route duration", datetime.timedelta(seconds=duration))
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