def _process_commands(self, cmd, route, pub_types):
seek_to = None
if route is None or (isinstance(cmd, SetRoute) and route.name != cmd.name):
seek_to = cmd.start_time
route = Route(cmd.name, cmd.data_dir)
self._lr = MultiLogIterator(route.log_paths(), wraparound=True)
if self._frame_reader is not None:
self._frame_reader.close()
if "frame" in pub_types or "encodeIdx" in pub_types:
# reset frames for a route
self._frame_id_lookup = {}
self._frame_reader = RouteFrameReader(
route.camera_paths(), None, self._frame_id_lookup, readahead=True)
# always reset this on a seek
if isinstance(cmd, SeekRelativeTime):
seek_to = self._lr.tell() + cmd.secs
elif isinstance(cmd, SeekAbsoluteTime):
seek_to = cmd.secs
elif isinstance(cmd, StopAndQuit):
exit()
if seek_to is not None:
print("seeking", seek_to)
if not self._lr.seek(seek_to):
print("Can't seek: time out of bounds")
else:
next(self._lr) # ignore one
return route
from common.column_store import save_dict_as_column_store
from xx.pipeline.lib.log_time_series import append_dict
from selfdrive.test.process_replay.compare_logs import save_log
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Run visiond on segment")
parser.add_argument("segment_name", help="The segment to run")
parser.add_argument("output_path", help="The output file")
args = parser.parse_args()
segment = RouteSegment.from_canonical_name(args.segment_name)
route = Route(segment._name._route_name)
frame_id_lookup = {}
frame_reader = RouteFrameReader(route.camera_paths(),
None,
frame_id_lookup,
readahead=True)
msgs = list(LogReader(segment.log_path))
pm = PubMaster(['liveCalibration', 'frame'])
model_sock = sub_sock('model')
# Read encodeIdx
for msg in msgs:
if msg.which() == 'encodeIdx':
frame_id_lookup[msg.encodeIdx.frameId] = (msg.encodeIdx.segmentNum,
msg.encodeIdx.segmentId)
# Send some livecalibration messages to initalize visiond
for msg in msgs:
