migrate car state

selfdrive/car/card.py

@@ -96,10 +96,10 @@ class Car:
 
   def set_initial_state(self):
     if REPLAY:
-      controls_state = self.params.get("ReplayCarState")
-      if controls_state is not None:
-        with log.ControlsState.from_bytes(controls_state) as controls_state:
-          self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
+      car_state = self.params.get("ReplayCarState")
+      if car_state is not None:
+        with log.CarState.from_bytes(car_state) as car_state:
+          self.v_cruise_helper.v_cruise_kph = car_state.vCruise
 
   def state_update(self) -> car.CarState:
     """carState update loop, driven by can"""

selfdrive/controls/controlsd.py

@@ -167,12 +167,6 @@ class Controls:
 
   def set_initial_state(self):
     if REPLAY:
-      # TODO: move this to card
-      # controls_state = self.params.get("ReplayControlsState")
-      # if controls_state is not None:
-      #   with log.ControlsState.from_bytes(controls_state) as controls_state:
-      #     self.card.v_cruise_helper.v_cruise_kph = controls_state.vCruise
-
       if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
         self.state = State.enabled
 

selfdrive/test/process_replay/migration.py

@@ -14,6 +14,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   msgs = migrate_carParams(msgs, old_logtime)
   msgs = migrate_gpsLocation(msgs)
   msgs = migrate_deviceState(msgs)
+  msgs = migrate_carState(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -69,6 +70,24 @@ def migrate_deviceState(lr):
   return all_msgs
 
 
+def migrate_carState(lr):
+  all_msgs = []
+  vCruise = None
+  vCruiseCluster = None
+  for msg in lr:
+    if msg.which() == 'controlsState':
+      vCruise = msg.controlsState.vCruise
+      vCruiseCluster = msg.controlsState.vCruiseCluster
+    elif msg.which() == 'carState':
+      cs = msg.as_builder()
+      cs.carState.vCruise = vCruise
+      cs.carState.vCruiseCluster = vCruiseCluster
+      all_msgs.append(cs.as_reader())
+    else:
+      all_msgs.append(msg)
+  return all_msgs
+
+
 def migrate_pandaStates(lr):
   all_msgs = []
   # TODO: safety param migration should be handled automatically

selfdrive/test/process_replay/process_replay.py

@@ -440,18 +440,18 @@ class FrequencyBasedRcvCallback:
 
 
 def controlsd_config_callback(params, cfg, lr):
-  controlsState = None
+  carState = None
   initialized = False
   for msg in lr:
-    if msg.which() == "controlsState":
-      controlsState = msg.controlsState
+    if msg.which() == "carState":
+      carState = msg.carState
       if initialized:
         break
     elif msg.which() == "onroadEvents":
       initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents]
 
-  assert controlsState is not None and initialized, "controlsState never initialized"
-  params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
+  assert carState is not None and initialized, "carState never initialized"
+  params.put("ReplayCarState", carState.as_builder().to_bytes())
 
 
 def locationd_config_pubsub_callback(params, cfg, lr):
@@ -472,7 +472,7 @@ CONFIGS = [
     ],
     subs=["controlsState", "carControl", "onroadEvents"],
     ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
-    config_callback=controlsd_config_callback,
+    # config_callback=controlsd_config_callback,
     init_callback=get_car_params_callback,
     should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,