stash

selfdrive/locationd/paramsd.py

@@ -277,7 +277,9 @@ def main():
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
   while True:
+    print('  PARAMSD before sm.update')
     sm.update()
+    print('  PARAMSD after sm.update')
     if sm.all_checks():
       for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
         if sm.updated[which]:

selfdrive/test/process_replay/process_replay.py

@@ -73,6 +73,7 @@ class ReplayContext:
       for pub in pubs_with_events:
         self.events[pub] = messaging.fake_event_handle(pub, enable=True)
     else:
+      print(self.proc_name, "main pub", self.main_pub, self.main_pub_drained)
       self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
 
   def close_context(self):
@@ -128,11 +129,18 @@ class ProcessConfig:
   timeout: int = 30
   simulation: bool = True
   main_pub: str | None = None
-  main_pub_drained: bool = True
+  main_pub_drained: bool = False
   vision_pubs: list[str] = field(default_factory=list)
   ignore_alive_pubs: list[str] = field(default_factory=list)
   unlocked_pubs: list[str] = field(default_factory=list)
 
+  def __post_init__(self):
+    if self.main_pub is None:
+      if hasattr(self.should_recv_callback, "trigger_msg_type"):
+        self.main_pub = self.should_recv_callback.trigger_msg_type
+      else:
+        self.main_pub = self.pubs[0] if len(self.pubs) > 0 else None
+
 
 class ProcessContainer:
   def __init__(self, cfg: ProcessConfig):
@@ -292,7 +300,9 @@ class ProcessContainer:
           trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
 
         # get output msgs from previous inputs
+        input('about to get output msgs, press enter to continue...')
         output_msgs = self.get_output_msgs(msg.logMonoTime)
+        input('got output msgs, press enter to continue...')
 
         for m in self.msg_queue:
           self.pm.send(m.which(), m.as_builder())
@@ -306,9 +316,11 @@ class ProcessContainer:
                                   camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
         self.msg_queue = []
 
+        input('about to unlock sockets, press enter to continue...')
         self.rc.unlock_sockets()
         if trigger_empty_recv:
           self.rc.unlock_sockets()
+        input('unlocked sockets, press enter to continue...')
         self.cnt += 1
     assert self.process.proc.is_alive()
 
@@ -472,6 +484,7 @@ CONFIGS = [
           "driverMonitoringState", "onroadEvents", "driverAssistance"],
     subs=["carControl", "controlsState"],
     ignore=["logMonoTime", ],
+    main_pub="selfdriveState",
     init_callback=get_car_params_callback,
     should_recv_callback=MessageBasedRcvCallback("selfdriveState"),
     tolerance=NUMPY_TOLERANCE,
@@ -486,6 +499,7 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
     main_pub="can",
+    main_pub_drained=True,
   ),
   ProcessConfig(
     proc_name="radard",
@@ -536,6 +550,7 @@ CONFIGS = [
     pubs=["livePose", "liveCalibration", "carState"],
     subs=["liveParameters"],
     ignore=["logMonoTime"],
+    main_pub="livePose",
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("livePose"),
     tolerance=NUMPY_TOLERANCE,
@@ -574,7 +589,6 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
     main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
-    main_pub_drained=False,
     vision_pubs=["roadCameraState", "wideRoadCameraState"],
     ignore_alive_pubs=["wideRoadCameraState"],
     init_callback=get_car_params_callback,
@@ -588,7 +602,6 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
     main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
-    main_pub_drained=False,
     vision_pubs=["driverCameraState"],
     ignore_alive_pubs=["driverCameraState"],
   ),