Reapply "tmp save plot locally"

This reverts commit 1b95b82.

Author: Armandpl

selfdrive/test/process_replay/model_replay.py

@@ -254,27 +254,27 @@ def get_frames():
         'driverStateV2.modelExecutionTime',
         'driverStateV2.gpuExecutionTime'
       ]
-      if PC:
-        # TODO We ignore whole bunch so we can compare important stuff
-        # like posenet with reasonable tolerance
-        ignore += ['modelV2.acceleration.x',
-                   'modelV2.position.x',
-                   'modelV2.position.xStd',
-                   'modelV2.position.y',
-                   'modelV2.position.yStd',
-                   'modelV2.position.z',
-                   'modelV2.position.zStd',
-                   'drivingModelData.path.xCoefficients',]
-        for i in range(3):
-          for field in ('x', 'y', 'v', 'a'):
-            ignore.append(f'modelV2.leadsV3.{i}.{field}')
-            ignore.append(f'modelV2.leadsV3.{i}.{field}Std')
-        for i in range(4):
-          for field in ('x', 'y', 'z', 't'):
-            ignore.append(f'modelV2.laneLines.{i}.{field}')
-        for i in range(2):
-          for field in ('x', 'y', 'z', 't'):
-            ignore.append(f'modelV2.roadEdges.{i}.{field}')
+      # if PC:
+      #   # TODO We ignore whole bunch so we can compare important stuff
+      #   # like posenet with reasonable tolerance
+      #   ignore += ['modelV2.acceleration.x',
+      #              'modelV2.position.x',
+      #              'modelV2.position.xStd',
+      #              'modelV2.position.y',
+      #              'modelV2.position.yStd',
+      #              'modelV2.position.z',
+      #              'modelV2.position.zStd',
+      #              'drivingModelData.path.xCoefficients',]
+      #   for i in range(3):
+      #     for field in ('x', 'y', 'v', 'a'):
+      #       ignore.append(f'modelV2.leadsV3.{i}.{field}')
+      #       ignore.append(f'modelV2.leadsV3.{i}.{field}Std')
+      #   for i in range(4):
+      #     for field in ('x', 'y', 'z', 't'):
+      #       ignore.append(f'modelV2.laneLines.{i}.{field}')
+      #   for i in range(2):
+      #     for field in ('x', 'y', 'z', 't'):
+      #       ignore.append(f'modelV2.roadEdges.{i}.{field}')
       tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': log_fn, 'new': log_fn}}}
@@ -285,6 +285,30 @@ def get_frames():
         comment_replay_report(log_msgs, cmp_log, log_msgs)
         failed = False
         print(diff_long)
+      else:
+        commit = (get_commit() or 'local')[:7]
+        all_plots = [*zl([
+          (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
+          (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
+          (lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"),
+          (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
+          (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
+          (lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs"),
+        ], "modelV2")]
+        n = len(all_plots)
+        fig, axes = plt.subplots(n, 1, figsize=(10, 3 * n))
+        for ax, (v, event) in zip(axes, all_plots):
+          proposed_vals = list(map(v[0], get_event(log_msgs, event)))
+          master_vals = list(map(v[0], get_event(cmp_log, event)))
+          ax.plot(master_vals, label='MASTER')
+          ax.plot(proposed_vals, label='PROPOSED')
+          ax.set_title(v[1])
+          ax.legend(fontsize=8)
+          ax.grid(True, alpha=0.3)
+        fig.tight_layout()
+        out = f"model_replay_{commit}.png"
+        fig.savefig(out, dpi=150)
+        print(f"Plot saved to {out}")
       print('-------------\n'*5)
       print(diff_short)
       with open("model_diff.txt", "w") as f: