pull/35878/head
Shane Smiskol 3 days ago
parent a39edf0a57
commit 3e119a9602
  1. 28
      selfdrive/test/process_replay/process_replay.py

@ -360,28 +360,30 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
CarInterface = interfaces[fingerprint] CarInterface = interfaces[fingerprint]
CP = CarInterface.get_non_essential_params(fingerprint) CP = CarInterface.get_non_essential_params(fingerprint)
else: else:
can = DummySocket() # can = DummySocket()
sendcan = DummySocket() # sendcan = DummySocket()
#
canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300)) # canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300))
cached_params_raw = params.get("CarParamsCache") cached_params_raw = params.get("CarParamsCache")
has_cached_cp = cached_params_raw is not None has_cached_cp = cached_params_raw is not None
assert len(canmsgs) != 0, "CAN messages are required for fingerprinting" # print('hi')
assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \ # assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
"CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs." # assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
# "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
for m in canmsgs: #
can.send(m.as_builder().to_bytes()) # for m in canmsgs:
can_callbacks = can_comm_callbacks(can, sendcan) # can.send(m.as_builder().to_bytes())
# can_callbacks = can_comm_callbacks(can, sendcan)
cached_params = None cached_params = None
if has_cached_cp: if has_cached_cp:
with car.CarParams.from_bytes(cached_params_raw) as _cached_params: with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = _cached_params cached_params = _cached_params
CP = get_car(*can_callbacks, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP # CP = get_car(*can_callbacks, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP
params.put("CarParams", CP.to_bytes()) print('has cached params:', has_cached_cp, cached_params)
params.put("CarParams", cached_params.as_builder().to_bytes())
print(f"CarParams set in {time.monotonic() - t} seconds") print(f"CarParams set in {time.monotonic() - t} seconds")

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