process replay: set full env in cpp replay

old-commit-hash: b3b5beb627

selfdrive/test/process_replay/process_replay.py

@@ -341,6 +341,15 @@ def replay_process(cfg, lr, fingerprint=None):
   else:
     return cpp_replay_process(cfg, lr, fingerprint)
 
+def setup_env():
+  params = Params()
+  params.clear_all()
+  params.put_bool("OpenpilotEnabledToggle", True)
+  params.put_bool("Passive", False)
+  params.put_bool("CommunityFeaturesToggle", True)
+
+  os.environ['NO_RADAR_SLEEP'] = "1"
+  os.environ["SIMULATION"] = "1"
 
 def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
@@ -356,15 +365,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
 
-  params = Params()
-  params.clear_all()
-  params.put_bool("OpenpilotEnabledToggle", True)
-  params.put_bool("Passive", False)
-  params.put_bool("CommunityFeaturesToggle", True)
-
-  os.environ['NO_RADAR_SLEEP'] = "1"
-  os.environ["SIMULATION"] = "1"
-
+  setup_env()
 
   # TODO: remove after getting new route for civic & accord
   migration = {
@@ -384,7 +385,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
       if msg.which() == 'carParams':
         car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
         if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS):
-          params.put("CarParamsCache", msg.carParams.as_builder().to_bytes())
+          Params().put("CarParamsCache", msg.carParams.as_builder().to_bytes())
         else:
           os.environ['SKIP_FW_QUERY'] = "1"
           os.environ['FINGERPRINT'] = car_fingerprint
@@ -402,7 +403,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
       can_sock = None
     cfg.init_callback(all_msgs, fsm, can_sock, fingerprint)
 
-  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
+  CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
 
   # wait for started process to be ready
   if 'can' in list(cfg.pub_sub.keys()):
@@ -447,6 +448,8 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
   log_msgs = []
 
+  setup_env()
+
   managed_processes[cfg.proc_name].prepare()
   managed_processes[cfg.proc_name].start()