Compile FrogPilot

tools/replay/unlog_ci_segment.py

@@ -1,108 +0,0 @@
-#!/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