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Process replay: visualize diff #37048

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fd7ecc0
add card_diff.py
elkoled Jan 29, 2026
29399ad
argparse
elkoled Jan 29, 2026
aa143fd
save
elkoled Jan 29, 2026
8f74e16
run_card
elkoled Jan 29, 2026
fdbf86c
ref
elkoled Jan 29, 2026
abd7923
compare logs
elkoled Jan 29, 2026
390ffe3
format
elkoled Jan 29, 2026
fc94587
engagement check
elkoled Jan 29, 2026
780d15a
use car_diff formatting
elkoled Jan 29, 2026
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format_diff
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timestamp
elkoled Jan 30, 2026
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76 changes: 76 additions & 0 deletions selfdrive/test/process_replay/card_diff.py
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#!/usr/bin/env python3
import argparse
import pickle
import sys
from collections import Counter, defaultdict
from pathlib import Path

from openpilot.tools.lib.logreader import LogReader
from openpilot.selfdrive.test.process_replay.process_replay import (
replay_process, get_process_config, check_openpilot_enabled,
)
from openpilot.selfdrive.test.process_replay.compare_logs import (
compare_logs, format_process_diff,
)
from opendbc.car.tests.car_diff import dict_diff, format_diff, IGNORE_FIELDS, TOLERANCE

CARD_CFG = get_process_config("card")


def run_card(route):
lr = list(LogReader(route))
if not check_openpilot_enabled(lr):
print(f"Warning: {route} never engaged")
return replay_process(CARD_CFG, lr)


def main():
parser = argparse.ArgumentParser()
parser.add_argument("route")
parser.add_argument("--ref", help="Reference route or .pkl file")
parser.add_argument("--save", help="Save to .pkl")
args = parser.parse_args()

print(f"Replaying: {args.route}")
new = run_card(args.route)
print(f"Got {len(new)} msgs: {dict(Counter(m.which() for m in new))}")

if args.save:
Path(args.save).write_bytes(pickle.dumps(new))
print(f"Saved: {args.save}")
return 0

if not args.ref:
print("Use --ref to compare or --save to save")
return 0

ref = pickle.loads(Path(args.ref).read_bytes()) if args.ref.endswith(".pkl") else run_card(args.ref)

diffs = compare_logs(ref, new, ignore_fields=CARD_CFG.ignore, tolerance=CARD_CFG.tolerance)

if not diffs:
print("PASS: no diffs")
return 0

diff, _ = format_process_diff(diffs)
print(f"\n{len(diffs)} diffs:")
print(diff)

ref_states = [(m.logMonoTime, m.carState) for m in ref if m.which() == "carState"]
new_states = [m.carState for m in new if m.which() == "carState"]

by_field = defaultdict(list)
for i, ((ts, r), n) in enumerate(zip(ref_states, new_states)):
for d in dict_diff(r.to_dict(), n.to_dict(), ignore=IGNORE_FIELDS, tolerance=TOLERANCE):
by_field[d[1]].append((d[1], i, d[2], ts))

for field, fd in sorted(by_field.items()):
print(f" {field} ({len(fd)} diffs)")
for line in format_diff(fd, ref_states, new_states, field):
print(line)

return 1


if __name__ == "__main__":
sys.exit(main())
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