process replay: fix socket-ful replay flakiness (#27721)

* process replay: fix socket-ful replay flakiness

* bump up laikad timeout

* bump

* bump again

* revert that
old-commit-hash: 85908f7e2b

selfdrive/test/process_replay/process_replay.py

@@ -5,7 +5,8 @@ import sys
 import threading
 import time
 import signal
-from collections import namedtuple
+from dataclasses import dataclass, field
+from typing import Dict, List, Optional, Callable
 
 import capnp
 
@@ -28,7 +29,20 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
+@dataclass
+class ProcessConfig:
+  proc_name: str
+  pub_sub: Dict[str, List[str]]
+  ignore: List[str]
+  init_callback: Optional[Callable]
+  should_recv_callback: Optional[Callable]
+  tolerance: Optional[float]
+  fake_pubsubmaster: bool
+  submaster_config: Dict[str, List[str]] = field(default_factory=dict)
+  environ: Dict[str, str] = field(default_factory=dict)
+  subtest_name: str = ""
+  field_tolerances: Dict[str, float] = field(default_factory=dict)
+  timeout: int = 30
 
 
 def wait_for_event(evt):
@@ -365,6 +379,7 @@ CONFIGS = [
     should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
     fake_pubsubmaster=False,
+    timeout=60*10,  # first messages are blocked on internet assistance
   ),
   ProcessConfig(
     proc_name="torqued",
@@ -532,8 +547,9 @@ def python_replay_process(cfg, lr, fingerprint=None):
 
 
 def replay_process_with_sockets(cfg, lr, fingerprint=None):
-  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pm = messaging.PubMaster(cfg.pub_sub.keys())
+  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
+  sockets = {s: messaging.sub_sock(s, timeout=100) for s in sub_sockets}
 
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
@@ -556,22 +572,26 @@ def replay_process_with_sockets(cfg, lr, fingerprint=None):
       while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()):
         time.sleep(0)
 
-    # Make sure all subscribers are connected
-    sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets}
-    for s in sub_sockets:
-      messaging.recv_one_or_none(sockets[s])
+    for s in sockets.values():
+      messaging.recv_one_or_none(s)
 
     # Do the replay
     cnt = 0
     for msg in pub_msgs:
-      with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
+      with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
+        resp_sockets = cfg.pub_sub[msg.which()]
+        if cfg.should_recv_callback is not None:
+          resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None)
+
+        # Make sure all subscribers are connected
+        if len(log_msgs) == 0 and len(resp_sockets) > 0:
+          for s in sockets.values():
+            messaging.recv_one_or_none(s)
+
         pm.send(msg.which(), msg.as_builder())
         while not pm.all_readers_updated(msg.which()):
           time.sleep(0)
 
-        resp_sockets = cfg.pub_sub[msg.which()]
-        if cfg.should_recv_callback is not None:
-          resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None)
         for s in resp_sockets:
           m = messaging.recv_one_retry(sockets[s])
           m = m.as_builder()