From 2b1c82c82eddcc237f7c67d84efa4819769c30ea Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 17 May 2024 01:02:19 -0700 Subject: [PATCH] migrate missing carOutput for controlsd --- selfdrive/test/process_replay/migration.py | 18 ++++++++++++++++++ .../test/process_replay/process_replay.py | 1 - 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 53b95d35a1..4e5223252e 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -17,6 +17,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, msgs = migrate_gpsLocation(msgs) msgs = migrate_deviceState(msgs) msgs = migrate_controlsState(msgs) + msgs = migrate_carOutput(msgs) if manager_states: msgs = migrate_managerState(msgs) if panda_states: @@ -87,6 +88,23 @@ def migrate_controlsState(lr): return all_msgs +def migrate_carOutput(lr): + # migration needed only for routes before carOutput + if any(msg.which() == 'carOutput' for msg in lr): + return lr + + all_msgs = [] + for msg in lr: + if msg.which() == 'carControl': + co = messaging.new_message('carOutput') + co.valid = msg.valid + co.logMonoTime = msg.logMonoTime + co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED + all_msgs.append(co.as_reader()) + all_msgs.append(msg) + return all_msgs + + def migrate_pandaStates(lr): all_msgs = [] # TODO: safety param migration should be handled automatically diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8713874f79..098e475b6b 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -481,7 +481,6 @@ CONFIGS = [ should_recv_callback=controlsd_rcv_callback, tolerance=NUMPY_TOLERANCE, processing_time=0.004, - # main_pub="carState", ), ProcessConfig( proc_name="card",