regen: dummy dcamera support (commaai#30323)

* DummyFrameReader

* dummy_dcam_if_missing flag

* Blank dcamera for all neo segments, as dmonitoringd does not support neo camera feeds

* Remove trailing whitespace

* zero_dcamera staticmethod

* enable dmonitoring in test_regen

* Simplify. User decides wether to use dummy or not

* Moving some stuff

* rename to dummy_driver_cam

selfdrive/test/process_replay/regen.py

@@ -3,18 +3,42 @@
 import argparse
 import time
 import capnp
+import numpy as np
 
 from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
  check_openpilot_enabled, get_custom_params_from_lr
+from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
 from openpilot.tools.lib.logreader import LogReader, LogIterable
 from openpilot.tools.lib.helpers import save_log
 
 
+class DummyFrameReader(BaseFrameReader):
+ def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
+ self.pix_val = pix_val
+ self.w, self.h = w, h
+ self.frame_count = frame_count
+ self.frame_type = FrameType.raw
+
+ def get(self, idx, count=1, pix_fmt="yuv420p"):
+ if pix_fmt == "rgb24":
+ shape = (self.h, self.w, 3)
+ elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
+ shape = (int((self.h * self.w) * 3 / 2),)
+ else:
+ raise NotImplementedError
+
+ return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
+
+ @staticmethod
+ def zero_dcamera():
+ return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0)
+
+
 def regen_segment(
  lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
  processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
@@ -31,7 +55,8 @@ def regen_segment(
 
 
 def setup_data_readers(
- route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True
+ route: str, sidx: int, use_route_meta: bool,
+ needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
 ) -> Tuple[LogReader, Dict[str, Any]]:
  if use_route_meta:
  r = Route(route)
@@ -41,8 +66,13 @@ def setup_data_readers(
  frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
  if needs_road_cam and len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
  frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
- if needs_driver_cam and len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
- frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
+ if needs_driver_cam:
+ if dummy_driver_cam:
+ frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+ elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+ device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
+ assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
+ frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
  else:
  lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
  frs = {}
@@ -51,14 +81,19 @@ def setup_data_readers(
  if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
  frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
  if needs_driver_cam:
- frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
+ if dummy_driver_cam:
+ frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+ else:
+ device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
+ assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
+ frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
 
  return lr, frs
 
 
 def regen_and_save(
  route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
- upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
+ upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
 ) -> str:
  if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
  raise ValueError("whitelist_proc must be a string or iterable")
@@ -77,7 +112,8 @@ def regen_and_save(
  all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
  lr, frs = setup_data_readers(route, sidx, use_route_meta,
  needs_driver_cam="driverCameraState" in all_vision_pubs,
- needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs)
+ needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
+ dummy_driver_cam=dummy_driver_cam)
  output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
 
  log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
@@ -107,6 +143,7 @@ def comma_separated_list(string):
  parser = argparse.ArgumentParser(description="Generate new segments from old ones")
  parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
  parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
+ parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
  parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
  help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
  parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
@@ -117,4 +154,4 @@ def comma_separated_list(string):
 
  blacklist_set = set(args.blacklist_procs)
  processes = [p for p in args.whitelist_procs if p not in blacklist_set]
- regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir)
+ regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)

selfdrive/test/process_replay/regen_all.py

@@ -18,7 +18,7 @@ def regen_job(segment, upload, disable_tqdm):
  fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
  try:
  relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
- outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
+ outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
  relr = '|'.join(relr.split('/')[-2:])
  return f' ("{segment[0]}", "{relr}"), '
  except Exception as e:

selfdrive/test/process_replay/test_regen.py

@@ -4,13 +4,12 @@
 
 from parameterized import parameterized
 
-from openpilot.selfdrive.test.process_replay.regen import regen_segment
-from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled, CONFIGS
+from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
+from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 
-EXCLUDED_PROCESSES = {"dmonitoringd", "dmonitoringmodeld"}
 TESTED_SEGMENTS = [
  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
  # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
@@ -21,9 +20,9 @@
 
 def ci_setup_data_readers(route, sidx):
  lr = LogReader(get_url(route, sidx, "rlog"))
- # dm disabled
  frs = {
  'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")),
+ 'driverCameraState': DummyFrameReader.zero_dcamera()
  }
  if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
  frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera"))
@@ -34,11 +33,9 @@ def ci_setup_data_readers(route, sidx):
 class TestRegen(unittest.TestCase):
  @parameterized.expand(TESTED_SEGMENTS)
  def test_engaged(self, case_name, segment):
- tested_procs = [p for p in CONFIGS if p.proc_name not in EXCLUDED_PROCESSES]
-
  route, sidx = segment.rsplit("--", 1)
  lr, frs = ci_setup_data_readers(route, sidx)
- output_logs = regen_segment(lr, frs, processes=tested_procs, disable_tqdm=True)
+ output_logs = regen_segment(lr, frs, disable_tqdm=True)
 
  engaged = check_openpilot_enabled(output_logs)
  self.assertTrue(engaged, f"openpilot not engaged in {case_name}")