Proc replay: field tolerance unused (#29479)

field tolerance unused

selfdrive/test/process_replay/compare_logs.py

@@ -39,25 +39,12 @@ def remove_ignored_fields(msg, ignore):
   return msg
 
 
-def get_field_tolerance(diff_field, field_tolerances):
+def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,):
-  diff_field_str = diff_field[0]
-  for s in diff_field[1:]:
-    # loop until number in field
-    if not isinstance(s, str):
-      break
-    diff_field_str += '.'+s
-  if diff_field_str in field_tolerances:
-    return field_tolerances[diff_field_str]
-
-
-def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None, field_tolerances=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
     ignore_msgs = []
-  if field_tolerances is None:
+  tolerance = EPSILON if tolerance is None else tolerance
-    field_tolerances = {}
-  default_tolerance = EPSILON if tolerance is None else tolerance
 
   log1, log2 = (
     [m for m in log if m.which() not in ignore_msgs]
@@ -88,13 +75,10 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
       def outside_tolerance(diff):
         try:
           if diff[0] == "change":
-            field_tolerance = default_tolerance
-            if (tol := get_field_tolerance(diff[1], field_tolerances)) is not None:
-              field_tolerance = tol
             a, b = diff[2]
             finite = math.isfinite(a) and math.isfinite(b)
             if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number):
-              return abs(a - b) > max(field_tolerance, field_tolerance * max(abs(a), abs(b)))
+              return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b)))
         except TypeError:
           pass
         return True

selfdrive/test/process_replay/process_replay.py

@@ -123,7 +123,6 @@ class ProcessConfig:
   should_recv_callback: Optional[Callable] = None
   tolerance: Optional[float] = None
   processing_time: float = 0.001
-  field_tolerances: Dict[str, float] = field(default_factory=dict)
   timeout: int = 30
   simulation: bool = True
   main_pub: Optional[str] = None

selfdrive/test/process_replay/test_processes.py

@@ -110,7 +110,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
       return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
   try:
-    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance, cfg.field_tolerances), log_msgs
+    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
   except Exception as e:
     return str(e), log_msgs