From 5d69e9728155e83a013833c7ce32bb9ee97ff6d3 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 1 May 2020 11:38:30 -0700
Subject: [PATCH] Less hardcoded values in profiling script

---
 selfdrive/car/car_helpers.py          |  7 ++++---
 selfdrive/test/profiling/controlsd.py | 29 ++++++++++++++++++++-------
 selfdrive/test/profiling/lib.py       |  7 +++----
 3 files changed, 29 insertions(+), 14 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 5ffe043734..9c11feb6b2 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -71,7 +71,9 @@ def only_toyota_left(candidate_cars):
 
 # **** for use live only ****
 def fingerprint(logcan, sendcan, has_relay):
-  if has_relay:
+  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
+
+  if has_relay and not fixed_fingerprint:
     # Vin query only reliably works thorugh OBDII
     bus = 1
 
@@ -146,8 +148,7 @@ def fingerprint(logcan, sendcan, has_relay):
     car_fingerprint = list(fw_candidates)[0]
     source = car.CarParams.FingerprintSource.fw
 
-  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
-  if len(fixed_fingerprint):
+  if fixed_fingerprint:
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
diff --git a/selfdrive/test/profiling/controlsd.py b/selfdrive/test/profiling/controlsd.py
index 3048a497f5..02acf38ec0 100755
--- a/selfdrive/test/profiling/controlsd.py
+++ b/selfdrive/test/profiling/controlsd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+import os
 import time
 import cProfile
 import pprofile
@@ -8,25 +9,39 @@ import pyprof2calltree
 from tools.lib.logreader import LogReader
 from selfdrive.controls.controlsd import controlsd_thread
 from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
+from selfdrive.test.process_replay.process_replay import CONFIGS
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
-SEGMENT = "99c94dc769b5d96e|2019-08-03--14-19-59/2"
 
+CARS = {
+  'toyota': ("77611a1fac303767|2020-02-29--13-29-33/3", "TOYOTA COROLLA TSS2 2019"),
+  'honda': ("99c94dc769b5d96e|2019-08-03--14-19-59/2", "HONDA CIVIC 2016 TOURING"),
+}
 
-def get_inputs(msgs):
-  sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
-  pm = PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
+
+def get_inputs(msgs, process):
+  for config in CONFIGS:
+    if config.proc_name == process:
+      sub_socks = list(config.pub_sub.keys())
+      trigger = sub_socks[0]
+      break
+
+  sm = SubMaster(msgs, trigger, sub_socks)
+  pm = PubMaster()
   can_sock = SubSocket(msgs, 'can')
   return sm, pm, can_sock
 
 
 if __name__ == "__main__":
-  segment = SEGMENT.replace('|', '/')
+  segment, fingerprint = CARS['toyota']
+  segment = segment.replace('|', '/')
   rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
   msgs = list(LogReader(rlog_url))
 
+  os.environ['FINGERPRINT'] = fingerprint
+
   # Statistical
-  sm, pm, can_sock = get_inputs(msgs)
+  sm, pm, can_sock = get_inputs(msgs, 'controlsd')
   with pprofile.StatisticalProfile()(period=0.00001) as pr:
     try:
       controlsd_thread(sm, pm, can_sock)
@@ -35,7 +50,7 @@ if __name__ == "__main__":
   pr.dump_stats('cachegrind.out.controlsd_statistical')
 
   # Deterministic
-  sm, pm, can_sock = get_inputs(msgs)
+  sm, pm, can_sock = get_inputs(msgs, 'controlsd')
   with cProfile.Profile() as pr:
     try:
       controlsd_thread(sm, pm, can_sock)
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
index 2112632ed8..a0cdd8bcf5 100644
--- a/selfdrive/test/profiling/lib.py
+++ b/selfdrive/test/profiling/lib.py
@@ -1,3 +1,4 @@
+from collections import defaultdict
 import cereal.messaging as messaging
 import capnp
 
@@ -98,10 +99,8 @@ class SubMaster():
 
 
 class PubMaster():
-  def __init__(self, services):
-    self.sock = {}
-    for s in services:
-      self.sock[s] = PubSocket()
+  def __init__(self):
+    self.sock = defaultdict(PubSocket)
 
   def send(self, s, dat):
     pass