Add openpilot tools

tools/replay/.gitignore

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+moc_*
+*.moc
+
+replay
+tests/test_replay

tools/replay/README.md

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+# Replay
+
+## Replay driving data
+
+`replay` replays all the messages logged while running openpilot.
+
+```bash
+# Log in via browser to have access to routes from your comma account
+python tools/lib/auth.py
+
+# Start a replay
+tools/replay/replay <route-name>
+
+# Example:
+tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
+# or use --demo to replay the default demo route:
+tools/replay/replay --demo
+
+# watch the replay with the normal openpilot UI
+cd selfdrive/ui && ./ui
+
+# or try out a debug visualizer:
+python replay/ui.py
+```
+
+## usage
+
+``` bash
+$ tools/replay/replay -h
+Usage: tools/replay/replay [options] route
+Mock openpilot components by publishing logged messages.
+
+Options:
+  -h, --help             Displays this help.
+  -a, --allow <allow>    whitelist of services to send
+  -b, --block <block>    blacklist of services to send
+  -s, --start <seconds>  start from <seconds>
+  --demo                 use a demo route instead of providing your own
+  --dcam                 load driver camera
+  --ecam                 load wide road camera
+
+Arguments:
+  route                  the drive to replay. find your drives at
+                         connect.comma.ai
+```
+
+## watch3
+
+watch all three cameras simultaneously from your comma three routes with watch3
+
+simply replay a route using the `--dcam` and `--ecam` flags:
+
+```bash
+# start a replay
+cd tools/replay && ./replay --demo --dcam --ecam
+
+# then start watch3
+cd selfdrive/ui && ./watch3
+```
+
+![](https://i.imgur.com/IeaOdAb.png)
+
+## Stream CAN messages to your device
+
+Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the [jungle repo](https://github.com/commaai/panda_jungle) for more info.
+
+In order to run your device as if it was in a car:
+* connect a panda jungle to your PC
+* connect a comma device or panda to the jungle via OBD-C
+* run `can_replay.py`
+
+``` bash
+batman:replay$ ./can_replay.py -h
+usage: can_replay.py [-h] [route_or_segment_name]
+
+Replay CAN messages from a route to all connected pandas and jungles
+in a loop.
+
+positional arguments:
+  route_or_segment_name
+                        The route or segment name to replay. If not
+                        specified, a default public route will be
+                        used. (default: None)
+
+optional arguments:
+  -h, --help            show this help message and exit
+```

tools/replay/SConscript

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+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
+
+base_frameworks = qt_env['FRAMEWORKS']
+base_libs = [common, messaging, cereal, visionipc, 'zmq',
+             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"]
+
+if arch == "Darwin":
+  base_frameworks.append('OpenCL')
+else:
+  base_libs.append('OpenCL')
+
+qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+
+replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
+replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
+Export('replay_lib')
+replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs
+qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
+
+if GetOption('extras'):
+  qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, base_libs])

tools/replay/can_replay.py

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+#!/usr/bin/env python3
+import argparse
+import os
+import time
+import threading
+import multiprocessing
+from tqdm import tqdm
+
+os.environ['FILEREADER_CACHE'] = '1'
+
+from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
+from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
+from openpilot.tools.plotjuggler.juggle import load_segment
+from openpilot.tools.lib.logreader import logreader_from_route_or_segment
+from panda import Panda, PandaJungle
+
+def send_thread(s, flock):
+  if "Jungle" in str(type(s)):
+    if "FLASH" in os.environ:
+      with flock:
+        s.flash()
+
+    for i in [0, 1, 2, 3, 0xFFFF]:
+      s.can_clear(i)
+    s.set_ignition(False)
+    time.sleep(5)
+    s.set_ignition(True)
+    s.set_panda_power(True)
+  else:
+    s.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  s.set_can_loopback(False)
+
+  idx = 0
+  ign = True
+  rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None)
+  while True:
+    # handle ignition cycling
+    if ENABLE_IGN:
+      i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
+      if i != ign:
+        ign = i
+        s.set_ignition(ign)
+
+    snd = CAN_MSGS[idx]
+    snd = list(filter(lambda x: x[-1] <= 2, snd))
+    s.can_send_many(snd)
+    idx = (idx + 1) % len(CAN_MSGS)
+
+    # Drain panda message buffer
+    s.can_recv()
+    rk.keep_time()
+
+
+def connect():
+  config_realtime_process(3, 55)
+
+  serials = {}
+  flashing_lock = threading.Lock()
+  while True:
+    # look for new devices
+    for p in [Panda, PandaJungle]:
+      if p is None:
+        continue
+
+      for s in p.list():
+        if s not in serials:
+          print("starting send thread for", s)
+          serials[s] = threading.Thread(target=send_thread, args=(p(s), flashing_lock))
+          serials[s].start()
+
+    # try to join all send threads
+    cur_serials = serials.copy()
+    for s, t in cur_serials.items():
+      t.join(0.01)
+      if not t.is_alive():
+        del serials[s]
+
+    time.sleep(1)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
+  args = parser.parse_args()
+
+  print("Loading log...")
+  if args.route_or_segment_name is None:
+    ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
+    REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
+    CAN_MSGS = []
+    logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
+    with multiprocessing.Pool(24) as pool:
+      for lr in tqdm(pool.map(load_segment, logs)):
+        CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+  else:
+    lr = logreader_from_route_or_segment(args.route_or_segment_name)
+    CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+
+  # set both to cycle ignition
+  IGN_ON = int(os.getenv("ON", "0"))
+  IGN_OFF = int(os.getenv("OFF", "0"))
+  ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0
+  if ENABLE_IGN:
+    print(f"Cycling ignition: on for {IGN_ON}s, off for {IGN_OFF}s")
+
+  connect()

tools/replay/lib/ui_helpers.py

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+import itertools
+from typing import Any, Dict, Tuple
+
+import matplotlib.pyplot as plt
+import numpy as np
+import pygame
+
+from matplotlib.backends.backend_agg import FigureCanvasAgg
+
+from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
+                                           tici_f_frame_size, tici_f_focal_length,
+                                           get_view_frame_from_calib_frame)
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
+
+
+RED = (255, 0, 0)
+GREEN = (0, 255, 0)
+BLUE = (0, 0, 255)
+YELLOW = (255, 255, 0)
+BLACK = (0, 0, 0)
+WHITE = (255, 255, 255)
+
+_FULL_FRAME_SIZE = {
+}
+
+class UIParams:
+  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
+  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  car_hwidth = 1.7272 / 2 * lidar_zoom
+  car_front = 2.6924 * lidar_zoom
+  car_back = 1.8796 * lidar_zoom
+  car_color = 110
+UP = UIParams
+
+_BB_TO_FULL_FRAME = {}
+_CALIB_BB_TO_FULL = {}
+_FULL_FRAME_TO_BB = {}
+_INTRINSICS = {}
+
+eon_f_qcam_frame_size = (480, 360)
+tici_f_qcam_frame_size = (528, 330)
+
+cams = [(eon_f_frame_size, eon_f_focal_length, eon_f_frame_size),
+        (tici_f_frame_size, tici_f_focal_length, tici_f_frame_size),
+        (eon_f_qcam_frame_size, eon_f_focal_length, eon_f_frame_size),
+        (tici_f_qcam_frame_size, tici_f_focal_length, tici_f_frame_size)]
+for size, focal, full_size in cams:
+  sz = size[0] * size[1]
+  _BB_SCALE = size[0] / 640.
+  _BB_TO_FULL_FRAME[sz] = np.asarray([
+      [_BB_SCALE, 0., 0.],
+      [0., _BB_SCALE, 0.],
+      [0., 0., 1.]])
+  calib_scale = full_size[0] / 640.
+  _CALIB_BB_TO_FULL[sz] = np.asarray([
+      [calib_scale, 0., 0.],
+      [0., calib_scale, 0.],
+      [0., 0., 1.]])
+  _FULL_FRAME_TO_BB[sz] = np.linalg.inv(_BB_TO_FULL_FRAME[sz])
+  _FULL_FRAME_SIZE[sz] = (size[0], size[1])
+  _INTRINSICS[sz] = np.array([
+    [focal, 0., full_size[0] / 2.],
+    [0., focal, full_size[1] / 2.],
+    [0., 0., 1.]])
+
+
+METER_WIDTH = 20
+
+class Calibration:
+  def __init__(self, num_px, rpy, intrinsic):
+    self.intrinsic = intrinsic
+    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
+    self.zoom = _CALIB_BB_TO_FULL[num_px][0, 0]
+
+  def car_space_to_ff(self, x, y, z):
+    car_space_projective = np.column_stack((x, y, z)).T
+
+    ep = self.extrinsics_matrix.dot(car_space_projective)
+    kep = self.intrinsic.dot(ep)
+    return (kep[:-1, :] / kep[-1, :]).T
+
+  def car_space_to_bb(self, x, y, z):
+    pts = self.car_space_to_ff(x, y, z)
+    return pts / self.zoom
+
+
+_COLOR_CACHE : Dict[Tuple[int, int, int], Any] = {}
+def find_color(lidar_surface, color):
+  if color in _COLOR_CACHE:
+    return _COLOR_CACHE[color]
+  tcolor = 0
+  ret = 255
+  for x in lidar_surface.get_palette():
+    if x[0:3] == color:
+      ret = tcolor
+      break
+    tcolor += 1
+  _COLOR_CACHE[color] = ret
+  return ret
+
+
+def to_topdown_pt(y, x):
+  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
+  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
+    return int(px), int(py)
+  return -1, -1
+
+
+def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
+  x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off
+  pts = calibration.car_space_to_bb(x, y, z)
+  pts = np.round(pts).astype(int)
+
+  # draw lidar path point on lidar
+  # find color in 8 bit
+  if lid_color is not None and top_down is not None:
+    tcolor = find_color(top_down[0], lid_color)
+    for i in range(len(x)):
+      px, py = to_topdown_pt(x[i], y[i])
+      if px != -1:
+        top_down[1][px, py] = tcolor
+
+  height, width = img.shape[:2]
+  for x, y in pts:
+    if 1 < x < width - 1 and 1 < y < height - 1:
+      for a, b in itertools.permutations([-1, 0, -1], 2):
+        img[y + a, x + b] = color
+
+
+def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
+  color_palette = { "r": (1, 0, 0),
+                    "g": (0, 1, 0),
+                    "b": (0, 0, 1),
+                    "k": (0, 0, 0),
+                    "y": (1, 1, 0),
+                    "p": (0, 1, 1),
+                    "m": (1, 0, 1)}
+
+  dpi = 90
+  fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
+  canvas = FigureCanvasAgg(fig)
+
+  fig.set_facecolor((0.2, 0.2, 0.2))
+
+  axs = []
+  for pn in range(len(plot_ylims)):
+    ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
+    ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
+    ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
+    ax.patch.set_facecolor((0.4, 0.4, 0.4))
+    axs.append(ax)
+
+  plots, idxs, plot_select = [], [], []
+  for i, pl_list in enumerate(plot_names):
+    for j, item in enumerate(pl_list):
+      plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
+                          label=item,
+                          color=color_palette[plot_colors[i][j]],
+                          linestyle=plot_styles[i][j])
+      plots.append(plot)
+      idxs.append(name_to_arr_idx[item])
+      plot_select.append(i)
+    axs[i].set_title(", ".join(f"{nm} ({cl})"
+                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+    axs[i].tick_params(axis="x", colors="white")
+    axs[i].tick_params(axis="y", colors="white")
+    axs[i].title.set_color("white")
+
+    if i < len(plot_ylims) - 1:
+      axs[i].set_xticks([])
+
+  canvas.draw()
+
+  def draw_plots(arr):
+    for ax in axs:
+      ax.draw_artist(ax.patch)
+    for i in range(len(plots)):
+      plots[i].set_ydata(arr[:, idxs[i]])
+      axs[plot_select[i]].draw_artist(plots[i])
+
+    raw_data = canvas.buffer_rgba()
+    plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
+    return plot_surface
+
+  return draw_plots
+
+
+def pygame_modules_have_loaded():
+  return pygame.display.get_init() and pygame.font.get_init()
+
+
+def plot_model(m, img, calibration, top_down):
+  if calibration is None or top_down is None:
+    return
+
+  for lead in m.leadsV3:
+    if lead.prob < 0.5:
+      continue
+
+    x, y = lead.x[0], lead.y[0]
+    x_std = lead.xStd[0]
+    x -= RADAR_TO_CAMERA
+
+    _, py_top = to_topdown_pt(x + x_std, y)
+    px, py_bottom = to_topdown_pt(x - x_std, y)
+    top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
+
+  for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
+    color = (0, int(255 * prob), 0)
+    draw_path(path, color, img, calibration, top_down, YELLOW)
+
+  for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True):
+    prob = max(1 - std, 0)
+    color = (int(255 * prob), 0, 0)
+    draw_path(edge, color, img, calibration, top_down, RED)
+
+  color = (255, 0, 0)
+  draw_path(m.position, color, img, calibration, top_down, RED, 1.22)
+
+
+def plot_lead(rs, top_down):
+  for lead in [rs.leadOne, rs.leadTwo]:
+    if not lead.status:
+      continue
+
+    x = lead.dRel
+    px_left, py = to_topdown_pt(x, -10)
+    px_right, _ = to_topdown_pt(x, 10)
+    top_down[1][px_left:px_right, py] = find_color(top_down[0], RED)
+
+
+def maybe_update_radar_points(lt, lid_overlay):
+  ar_pts = []
+  if lt is not None:
+    ar_pts = {}
+    for track in lt:
+      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
+  for ids, pt in ar_pts.items():
+    # negative here since radar is left positive
+    px, py = to_topdown_pt(pt[0], -pt[1])
+    if px != -1:
+      if pt[-1]:
+        color = 240
+      elif pt[-2]:
+        color = 230
+      else:
+        color = 255
+      if int(ids) == 1:
+        lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
+      else:
+        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+
+def get_blank_lid_overlay(UP):
+  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
+  # Draw the car.
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
+                                                      UP.car_front))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
+                                                      UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  return lid_overlay

tools/replay/tests/test_replay.cc

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+#include <chrono>
+#include <thread>
+
+#include <QDebug>
+#include <QEventLoop>
+
+#include "catch2/catch.hpp"
+#include "common/util.h"
+#include "tools/replay/replay.h"
+#include "tools/replay/util.h"
+
+const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
+const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";
+
+bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
+  do {
+    if (httpDownload(url, local_file, chunk_size)) {
+      return true;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  } while (--retries >= 0);
+  return false;
+}
+
+TEST_CASE("httpMultiPartDownload") {
+  char filename[] = "/tmp/XXXXXX";
+  close(mkstemp(filename));
+
+  const size_t chunk_size = 5 * 1024 * 1024;
+  std::string content;
+  SECTION("download to file") {
+    REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size));
+    content = util::read_file(filename);
+  }
+  SECTION("download to buffer") {
+    for (int i = 0; i < 3 && content.empty(); ++i) {
+      content = httpGet(TEST_RLOG_URL, chunk_size);
+      std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    }
+    REQUIRE(!content.empty());
+  }
+  REQUIRE(content.size() == 9112651);
+  REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
+}
+
+TEST_CASE("FileReader") {
+  auto enable_local_cache = GENERATE(true, false);
+  std::string cache_file = cacheFilePath(TEST_RLOG_URL);
+  system(("rm " + cache_file + " -f").c_str());
+
+  FileReader reader(enable_local_cache);
+  std::string content = reader.read(TEST_RLOG_URL);
+  REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
+  if (enable_local_cache) {
+    REQUIRE(sha256(util::read_file(cache_file)) == TEST_RLOG_CHECKSUM);
+  } else {
+    REQUIRE(util::file_exists(cache_file) == false);
+  }
+}
+
+TEST_CASE("LogReader") {
+  SECTION("corrupt log") {
+    FileReader reader(true);
+    std::string corrupt_content = reader.read(TEST_RLOG_URL);
+    corrupt_content.resize(corrupt_content.length() / 2);
+    corrupt_content = decompressBZ2(corrupt_content);
+    LogReader log;
+    REQUIRE(log.load((std::byte *)corrupt_content.data(), corrupt_content.size()));
+    REQUIRE(log.events.size() > 0);
+  }
+}
+
+void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
+  QEventLoop loop;
+  Segment segment(n, segment_file, flags);
+  QObject::connect(&segment, &Segment::loadFinished, [&]() {
+    REQUIRE(segment.isLoaded() == true);
+    REQUIRE(segment.log != nullptr);
+    REQUIRE(segment.frames[RoadCam] != nullptr);
+    if (flags & REPLAY_FLAG_DCAM) {
+      REQUIRE(segment.frames[DriverCam] != nullptr);
+    }
+    if (flags & REPLAY_FLAG_ECAM) {
+      REQUIRE(segment.frames[WideRoadCam] != nullptr);
+    }
+
+    // test LogReader & FrameReader
+    REQUIRE(segment.log->events.size() > 0);
+    REQUIRE(std::is_sorted(segment.log->events.begin(), segment.log->events.end(), Event::lessThan()));
+
+    for (auto cam : ALL_CAMERAS) {
+      auto &fr = segment.frames[cam];
+      if (!fr) continue;
+
+      if (cam == RoadCam || cam == WideRoadCam) {
+        REQUIRE(fr->getFrameCount() == 1200);
+      }
+      auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(fr->width, fr->height);
+      VisionBuf buf;
+      buf.allocate(nv12_buffer_size);
+      buf.init_yuv(fr->width, fr->height, nv12_width, nv12_width * nv12_height);
+      // sequence get 100 frames
+      for (int i = 0; i < 100; ++i) {
+        REQUIRE(fr->get(i, &buf));
+      }
+    }
+
+    loop.quit();
+  });
+  loop.exec();
+}
+
+std::string download_demo_route() {
+  static std::string data_dir;
+
+  if (data_dir == "") {
+    char tmp_path[] = "/tmp/root_XXXXXX";
+    data_dir = mkdtemp(tmp_path);
+
+    Route remote_route(DEMO_ROUTE);
+    assert(remote_route.load());
+
+    // Create a local route from remote for testing
+    const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
+    for (int i = 0; i < 2; ++i) {
+      std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
+      util::create_directories(log_path, 0755);
+      REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
+      REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
+    }
+  }
+
+  return data_dir;
+}
+
+
+TEST_CASE("Local route") {
+  std::string data_dir = download_demo_route();
+
+  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+  Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
+  REQUIRE(route.load());
+  REQUIRE(route.segments().size() == 2);
+  for (int i = 0; i < route.segments().size(); ++i) {
+    read_segment(i, route.at(i), flags);
+  }
+}
+
+TEST_CASE("Remote route") {
+  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+  Route route(DEMO_ROUTE);
+  REQUIRE(route.load());
+  REQUIRE(route.segments().size() == 13);
+  for (int i = 0; i < 2; ++i) {
+    read_segment(i, route.at(i), flags);
+  }
+}
+
+// helper class for unit tests
+class TestReplay : public Replay {
+ public:
+  TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, nullptr, flags) {}
+  void test_seek();
+  void testSeekTo(int seek_to);
+};
+
+void TestReplay::testSeekTo(int seek_to) {
+  seekTo(seek_to, false);
+
+  while (true) {
+    std::unique_lock lk(stream_lock_);
+    stream_cv_.wait(lk, [=]() { return events_updated_ == true; });
+    events_updated_ = false;
+    if (cur_mono_time_ != route_start_ts_ + seek_to * 1e9) {
+      // wake up by the previous merging, skip it.
+      continue;
+    }
+
+    Event cur_event(cereal::Event::Which::INIT_DATA, cur_mono_time_);
+    auto eit = std::upper_bound(events_->begin(), events_->end(), &cur_event, Event::lessThan());
+    if (eit == events_->end()) {
+      qDebug() << "waiting for events...";
+      continue;
+    }
+
+    REQUIRE(std::is_sorted(events_->begin(), events_->end(), Event::lessThan()));
+    const int seek_to_segment = seek_to / 60;
+    const int event_seconds = ((*eit)->mono_time - route_start_ts_) / 1e9;
+    current_segment_ = event_seconds / 60;
+    INFO("seek to [" << seek_to << "s segment " << seek_to_segment << "], events [" << event_seconds << "s segment" << current_segment_ << "]");
+    REQUIRE(event_seconds >= seek_to);
+    if (event_seconds > seek_to) {
+      auto it = segments_.lower_bound(seek_to_segment);
+      REQUIRE(it->first == current_segment_);
+    }
+    break;
+  }
+}
+
+void TestReplay::test_seek() {
+  // create a dummy stream thread
+  stream_thread_ = new QThread(this);
+  QEventLoop loop;
+  std::thread thread = std::thread([&]() {
+    for (int i = 0; i < 10; ++i) {
+      testSeekTo(util::random_int(0, 2 * 60));
+    }
+    loop.quit();
+  });
+  loop.exec();
+  thread.join();
+}
+
+TEST_CASE("Replay") {
+  TestReplay replay(DEMO_ROUTE);
+  REQUIRE(replay.load());
+  replay.test_seek();
+}

tools/replay/tests/test_runner.cc

@@ -0,0 +1,10 @@
+#define CATCH_CONFIG_RUNNER
+#include "catch2/catch.hpp"
+#include <QCoreApplication>
+
+int main(int argc, char **argv) {
+  // unit tests for Qt
+  QCoreApplication app(argc, argv);
+  const int res = Catch::Session().run(argc, argv);
+  return (res < 0xff ? res : 0xff);
+}

tools/replay/ui.py

@@ -0,0 +1,228 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+
+import cv2
+import numpy as np
+import pygame
+
+import cereal.messaging as messaging
+from openpilot.common.numpy_fast import clip
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
+                                         _INTRINSICS, BLACK, GREEN,
+                                         YELLOW, Calibration,
+                                         get_blank_lid_overlay, init_plots,
+                                         maybe_update_radar_points, plot_lead,
+                                         plot_model,
+                                         pygame_modules_have_loaded)
+from cereal.visionipc import VisionIpcClient, VisionStreamType
+
+os.environ['BASEDIR'] = BASEDIR
+
+ANGLE_SCALE = 5.0
+
+def ui_thread(addr):
+  cv2.setNumThreads(1)
+  pygame.init()
+  pygame.font.init()
+  assert pygame_modules_have_loaded()
+
+  disp_info = pygame.display.Info()
+  max_height = disp_info.current_h
+
+  hor_mode = os.getenv("HORIZONTAL") is not None
+  hor_mode = True if max_height < 960+300 else hor_mode
+
+  if hor_mode:
+    size = (640+384+640, 960)
+    write_x = 5
+    write_y = 680
+  else:
+    size = (640+384, 960+300)
+    write_x = 645
+    write_y = 970
+
+  pygame.display.set_caption("openpilot debug UI")
+  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
+
+  alert1_font = pygame.font.SysFont("arial", 30)
+  alert2_font = pygame.font.SysFont("arial", 20)
+  info_font = pygame.font.SysFont("arial", 15)
+
+  camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
+  top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
+
+  sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
+                            'liveTracks', 'modelV2', 'liveParameters', 'lateralPlan'], addr=addr)
+
+  img = np.zeros((480, 640, 3), dtype='uint8')
+  imgff = None
+  num_px = 0
+  calibration = None
+
+  lid_overlay_blank = get_blank_lid_overlay(UP)
+
+  # plots
+  name_to_arr_idx = { "gas": 0,
+                      "computer_gas": 1,
+                      "user_brake": 2,
+                      "computer_brake": 3,
+                      "v_ego": 4,
+                      "v_pid": 5,
+                      "angle_steers_des": 6,
+                      "angle_steers": 7,
+                      "angle_steers_k": 8,
+                      "steer_torque": 9,
+                      "v_override": 10,
+                      "v_cruise": 11,
+                      "a_ego": 12,
+                      "a_target": 13}
+
+  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
+
+  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
+  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
+                ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
+                ["v_ego", "v_override", "v_pid", "v_cruise"],
+                ["a_ego", "a_target"]]
+  plot_colors = [["b", "b", "g", "r", "y"],
+                 ["b", "g", "y", "r"],
+                 ["b", "g", "r", "y"],
+                 ["b", "r"]]
+  plot_styles = [["-", "-", "-", "-", "-"],
+                 ["-", "-", "-", "-"],
+                 ["-", "-", "-", "-"],
+                 ["-", "-"]]
+
+  draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
+
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+  while 1:
+    list(pygame.event.get())
+
+    screen.fill((64, 64, 64))
+    lid_overlay = lid_overlay_blank.copy()
+    top_down = top_down_surface, lid_overlay
+
+    # ***** frame *****
+    if not vipc_client.is_connected():
+      vipc_client.connect(True)
+
+    yuv_img_raw = vipc_client.recv()
+
+    if yuv_img_raw is None or not yuv_img_raw.data.any():
+      continue
+
+    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
+    num_px = vipc_client.width * vipc_client.height
+    bgr = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
+
+    zoom_matrix = _BB_TO_FULL_FRAME[num_px]
+    cv2.warpAffine(bgr, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
+
+    intrinsic_matrix = _INTRINSICS[num_px]
+
+    sm.update(0)
+
+    w = sm['controlsState'].lateralControlState.which()
+    if w == 'lqrStateDEPRECATED':
+      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
+    elif w == 'indiState':
+      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
+    else:
+      angle_steers_k = np.inf
+
+    plot_arr[:-1] = plot_arr[1:]
+    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
+    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
+    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
+    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
+    # TODO gas is deprecated
+    plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
+    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
+    # TODO brake is deprecated
+    plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
+    plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
+    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
+    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
+
+    if len(sm['longitudinalPlan'].accels):
+      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+
+    if sm.rcv_frame['modelV2']:
+      plot_model(sm['modelV2'], img, calibration, top_down)
+
+    if sm.rcv_frame['radarState']:
+      plot_lead(sm['radarState'], top_down)
+
+    # draw all radar points
+    maybe_update_radar_points(sm['liveTracks'], top_down[1])
+
+    if sm.updated['liveCalibration'] and num_px:
+      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
+      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix)
+
+    # *** blits ***
+    pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
+    screen.blit(camera_surface, (0, 0))
+
+    # display alerts
+    alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0))
+    alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0))
+    screen.blit(alert_line1, (180, 150))
+    screen.blit(alert_line2, (180, 190))
+
+    if hor_mode:
+      screen.blit(draw_plots(plot_arr), (640+384, 0))
+    else:
+      screen.blit(draw_plots(plot_arr), (0, 600))
+
+    pygame.surfarray.blit_array(*top_down)
+    screen.blit(top_down[0], (640, 0))
+
+    SPACING = 25
+
+    lines = [
+      info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK),
+      info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
+      info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
+      info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
+      None,
+      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
+      info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
+      info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
+      info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
+    ]
+
+    for i, line in enumerate(lines):
+      if line is not None:
+        screen.blit(line, (write_x, write_y + i * SPACING))
+
+    # this takes time...vsync or something
+    pygame.display.flip()
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+    description="Show replay data in a UI.",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
+                      help="The ip address on which to receive zmq messages.")
+
+  parser.add_argument("--frame-address", default=None,
+                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  return parser
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+
+  if args.ip_address != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+
+  ui_thread(args.ip_address)

tools/replay/unlog_ci_segment.py

@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+
+import argparse
+import bisect
+import select
+import sys
+import termios
+import time
+import tty
+from collections import defaultdict
+
+import cereal.messaging as messaging
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.openpilotci import get_url
+
+IGNORE = ['initData', 'sentinel']
+
+
+def input_ready():
+  return select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], [])
+
+
+def replay(route, segment, loop):
+  route = route.replace('|', '/')
+
+  lr = LogReader(get_url(route, segment))
+  fr = FrameReader(get_url(route, segment, "fcamera"), readahead=True)
+
+  # Build mapping from frameId to segmentId from roadEncodeIdx, type == fullHEVC
+  msgs = [m for m in lr if m.which() not in IGNORE]
+  msgs = sorted(msgs, key=lambda m: m.logMonoTime)
+  times = [m.logMonoTime for m in msgs]
+  frame_idx = {m.roadEncodeIdx.frameId: m.roadEncodeIdx.segmentId for m in msgs if m.which() == 'roadEncodeIdx' and m.roadEncodeIdx.type == 'fullHEVC'}
+
+  socks = {}
+  lag = 0.0
+  i = 0
+  max_i = len(msgs) - 2
+
+  while True:
+    msg = msgs[i].as_builder()
+    next_msg = msgs[i + 1]
+
+    start_time = time.time()
+    w = msg.which()
+
+    if w == 'roadCameraState':
+      try:
+        img = fr.get(frame_idx[msg.roadCameraState.frameId], pix_fmt="rgb24")
+        img = img[0][:, :, ::-1]  # Convert RGB to BGR, which is what the camera outputs
+        msg.roadCameraState.image = img.flatten().tobytes()
+      except (KeyError, ValueError):
+        pass
+
+    if w not in socks:
+      socks[w] = messaging.pub_sock(w)
+
+    try:
+      if socks[w]:
+        socks[w].send(msg.to_bytes())
+    except messaging.messaging_pyx.MultiplePublishersError:
+      socks[w] = None
+
+    lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9
+    lag -= time.time() - start_time
+
+    dt = max(lag, 0.0)
+    lag -= dt
+    time.sleep(dt)
+
+    if lag < -1.0 and i % 1000 == 0:
+      print(f"{-lag:.2f} s behind")
+
+    if input_ready():
+      key = sys.stdin.read(1)
+
+      # Handle pause
+      if key == " ":
+        while True:
+          if input_ready() and sys.stdin.read(1) == " ":
+            break
+          time.sleep(0.01)
+
+      # Handle seek
+      dt = defaultdict(int, s=10, S=-10)[key]
+      new_time = msgs[i].logMonoTime + dt * 1e9
+      i = bisect.bisect_left(times, new_time)
+
+    i = (i + 1) % max_i if loop else min(i + 1, max_i)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--loop", action='store_true')
+  parser.add_argument("route")
+  parser.add_argument("segment")
+  args = parser.parse_args()
+
+  orig_settings = termios.tcgetattr(sys.stdin)
+  tty.setcbreak(sys.stdin)
+
+  try:
+    replay(args.route, args.segment, args.loop)
+    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
+  except Exception:
+    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
+    raise