Lots of cleaning

selfdrive/locationd/test/ubloxd.py

@@ -272,7 +272,7 @@ def handle_msg(dev, msg, nav_frame_buffer):
   except ublox.UBloxError as e:
     print(e)
 
-  # if dev is not None and dev.dev is not None:
+  #if dev is not None and dev.dev is not None:
   #  dev.close()
 
 def main():

selfdrive/locationd/ubloxd_main.cc

@@ -12,7 +12,6 @@
 #include <math.h>
 #include <ctime>
 #include <chrono>
-#include <iostream>
 
 #include "messaging.hpp"
 #include "common/util.h"
@@ -42,6 +41,7 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
   subscriber->setTimeout(100);
 
   PubMaster pm({"ubloxGnss", "gpsLocationExternal"});
+
   while (!do_exit) {
     Message * msg = subscriber->receive();
     if (!msg){
@@ -53,6 +53,7 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
 
     auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
     memcpy(amsg.begin(), msg->getData(), msg->getSize());
+
     capnp::FlatArrayMessageReader cmsg(amsg);
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
     auto ubloxRaw = event.getUbloxRaw();

selfdrive/manager.py

@@ -22,7 +22,6 @@ os.environ['BASEDIR'] = BASEDIR
 TOTAL_SCONS_NODES = 1005
 prebuilt = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
-VALGRIND = os.getenv("VALGRIND") is not None
 # Create folders needed for msgq
 try:
   os.mkdir("/dev/shm")
@@ -170,16 +169,16 @@ managed_processes = {
   "plannerd": "selfdrive.controls.plannerd",
   "radard": "selfdrive.controls.radard",
   "dmonitoringd": "selfdrive.monitoring.dmonitoringd",
-  "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),  # 0
-  "loggerd": ("selfdrive/loggerd", ["./loggerd"]),  # 1
+  "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
+  "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
   "logmessaged": "selfdrive.logmessaged",
   "locationd": "selfdrive.locationd.locationd",
   "tombstoned": "selfdrive.tombstoned",
   "logcatd": ("selfdrive/logcatd", ["./logcatd"]),
   "proclogd": ("selfdrive/proclogd", ["./proclogd"]),
-  "boardd": ("selfdrive/boardd", ["./boardd"]),
+  "boardd": ("selfdrive/boardd", ["./boardd"]),   # not used directly
   "pandad": "selfdrive.pandad",
-  "ui": ("selfdrive/ui", ["./ui"]),  # 2
+  "ui": ("selfdrive/ui", ["./ui"]),
   "calibrationd": "selfdrive.locationd.calibrationd",
   "paramsd": "selfdrive.locationd.paramsd",
   "camerad": ("selfdrive/camerad", ["./camerad"]),
@@ -292,18 +291,6 @@ def nativelauncher(pargs, cwd):
   os.chmod(pargs[0], 0o700)
 
   os.execvp(pargs[0], pargs)
-def valgrindlauncher(pargs, cwd):
-  # exec the process
-  os.chdir(cwd)
-
-  # Run valgrind on a process
-  command = "valgrind --leak-check=full " + pargs[0]
-  output = os.popen(command)
-  while True:
-    s = output.read()
-    if s == "":
-      break
-    # print(s)
 
 def start_managed_process(name):
   if name in running or name not in managed_processes:
@@ -315,17 +302,9 @@ def start_managed_process(name):
   else:
     pdir, pargs = proc
     cwd = os.path.join(BASEDIR, pdir)
-    if VALGRIND:
-      print("\nVALGRIND" * 5)
-      print(pargs)
-      print(cwd)
-      running[name] = Process(name=name, target=valgrindlauncher, args=(pargs, cwd))
-    else:
-      cloudlog.info("starting process %s" % name)
-      print(pargs)
-      print(cwd)
-      running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
-    running[name].start()
+    cloudlog.info("starting process %s" % name)
+    running[name] = Process(name=name, target=nativelauncher, args=(pargs, cwd))
+  running[name].start()
 
 def start_daemon_process(name):
   params = Params()

selfdrive/test/process_replay/process_replay.py

@@ -201,7 +201,7 @@ def calibration_rcv_callback(msg, CP, cfg, fsm):
   # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
   # should_recv always true to increment frame
   recv_socks = []
-  frame = fsm.frame + 1  # incrementing hasn't happened yet in SubMaster
+  frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster
   if frame == 0 or (msg.which() == 'cameraOdometry' and (frame % 5) == 0):
     recv_socks = ["liveCalibration"]
   return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry'
@@ -288,7 +288,6 @@ CONFIGS = [
 ]
 
 def replay_process(cfg, lr):
-  print("Running replay on inputs " + str(cfg) + " " + str(lr))
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
 

selfdrive/test/process_replay/test_processes.py

@@ -18,13 +18,13 @@ segments = [
   ("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"),         # GM.ACADIA
   ("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"),  # CHRYSLER.PACIFICA
   ("HYUNDAI", "5b7c365c50084530|2020-04-15--16-13-24--3"),    # HYUNDAI.SONATA
-  # ("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"),   # CHRYSLER.JEEP_CHEROKEE
+  #("CHRYSLER", "b6e1317e1bfbefa6|2020-03-04--13-11-40"),   # CHRYSLER.JEEP_CHEROKEE
   ("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"),     # SUBARU.IMPREZA
   ("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"),  # VW.GOLF
   ("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"),     # NISSAN.XTRAIL
 
   # Enable when port is tested and dascamOnly is no longer set
-  # ("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"),      # MAZDA.CX5
+  #("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"),      # MAZDA.CX5
 ]
 
 # ford doesn't need to be tested until a full port is done
@@ -105,7 +105,6 @@ def format_diff(results, ref_commit):
   return diff1, diff2, failed
 
 if __name__ == "__main__":
-  # os.environ["VALGRIND"] = "1"
 
   parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
 
@@ -141,8 +140,9 @@ if __name__ == "__main__":
     tested_cars = set(c.lower() for c, _ in segments)
     untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
     assert len(untested) == 0, "Cars missing routes: %s" % (str(untested))
+
   results: Any = {}
-  for car_brand, segment in segments:  # Runs all tests, can focus on inside of the loop :)
+  for car_brand, segment in segments:
     if (cars_whitelisted and car_brand.upper() not in args.whitelist_cars) or \
        (not cars_whitelisted and car_brand.upper() in args.blacklist_cars):
       continue
@@ -152,7 +152,6 @@ if __name__ == "__main__":
     results[segment] = {}
 
     rlog_fn = get_segment(segment)
-    print(rlog_fn)
     lr = LogReader(rlog_fn)
 
     for cfg in CONFIGS:

tools/lib/tests/test_caching.py

@@ -38,6 +38,8 @@ class TestFileDownload(unittest.TestCase):
     # Make sure we don't force cache
     os.environ["FILEREADER_CACHE"] = "0"
     small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/SAFETY.md"
+    #  If you want large file to be larger than a chunk
+    #  large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/fcamera.hevc"
 
     #  Load full small file
     self.compare_loads(small_file_url)
@@ -53,10 +55,7 @@ class TestFileDownload(unittest.TestCase):
       self.compare_loads(small_file_url, 100 * i, 100)
 
   def test_large_file(self):
-    #  If you want large file to be larger than a chunk
-    #  large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/fcamera.hevc"
     large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
-
     #  Load the end 100 bytes of both files
     file_large = URLFile(large_file_url)
     length = file_large.get_length()

tools/replay/unlogger.py

@@ -90,7 +90,7 @@ class UnloggerWorker(object):
         # this assumes the encodeIdx always comes before the frame
         self._frame_id_lookup[
           msg.encodeIdx.frameId] = msg.encodeIdx.segmentNum, msg.encodeIdx.segmentId
-        # print "encode", msg.encodeIdx.frameId, len(self._readahead), route_time
+        #print "encode", msg.encodeIdx.frameId, len(self._readahead), route_time
       self._readahead.appendleft((typ, msg, route_time, cookie))
 
   def _send_logs(self, data_socket):