Ok got 10% cleaning done

selfdrive/locationd/ubloxd_main.cc

@@ -30,7 +30,6 @@ void set_do_exit(int sig) {
 
 using namespace ublox;
 int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
-  // std::cout<<"Runnning ublox_main"<<std::endl;
   LOGW("starting ubloxd");
   signal(SIGINT, (sighandler_t) set_do_exit);
   signal(SIGTERM, (sighandler_t) set_do_exit);
@@ -43,11 +42,8 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
   subscriber->setTimeout(100);
 
   PubMaster pm({"ubloxGnss", "gpsLocationExternal"});
-  int t=0;
   while (!do_exit) {
-    std::cout<<"Got to here on round "<<t++<<std::endl;
     Message * msg = subscriber->receive();
-    std::cout<<msg->getData()<<std::endl;
     if (!msg){
       if (errno == EINTR) {
         do_exit = true;
@@ -57,8 +53,6 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
 
     auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
     memcpy(amsg.begin(), msg->getData(), msg->getSize());
-    std::cout<<"Message is :"<<std::endl;
-    std::cout<<amsg.begin()<<std::endl;
     capnp::FlatArrayMessageReader cmsg(amsg);
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
     auto ubloxRaw = event.getUbloxRaw();

selfdrive/test/replay_learning.py

@@ -1,5 +1,4 @@
 import os
-import sys
 import threading
 import time
 
@@ -15,15 +14,6 @@ from tools.lib.logreader import LogReader
 
 ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path'])
 
-def wait_for_event(evt):
-  if not evt.wait(20):
-    if threading.currentThread().getName() == "MainThread":
-      # tested process likely died. don't let test just hang
-      raise Exception("Timeout reached. Tested process likely crashed.")
-    else:
-      # done testing this process, let it die
-      sys.exit(0)
-
 class SimplePubMaster():
   def __init__(self, services):  # pylint: disable=super-init-not-called
     self.sock = {}
@@ -35,55 +25,6 @@ class SimplePubMaster():
     self.sock[s].send(dat.to_bytes())
 
 
-def fingerprint(msgs, fsm, can_sock):
-  print("start fingerprinting")
-  fsm.wait_on_getitem = True
-
-  # populate fake socket with data for fingerprinting
-  canmsgs = [msg for msg in msgs if msg.which() == "can"]
-  wait_for_event(can_sock.recv_called)
-  can_sock.recv_called.clear()
-  can_sock.data = [msg.as_builder().to_bytes() for msg in canmsgs[:300]]
-  can_sock.recv_ready.set()
-  can_sock.wait = False
-
-  # we know fingerprinting is done when controlsd sets sm['pathPlan'].sensorValid
-  wait_for_event(fsm.update_called)
-  fsm.update_called.clear()
-
-  fsm.wait_on_getitem = False
-  can_sock.wait = True
-  can_sock.data = []
-
-  fsm.update_ready.set()
-  print("finished fingerprinting")
-
-def radar_rcv_callback(msg, CP, cfg, fsm):
-  if msg.which() != "can":
-    return [], False
-  elif CP.radarOffCan:
-    return ["radarState", "liveTracks"], True
-
-  radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474],
-                "chrysler": [0x2d4]}.get(CP.carName, None)
-
-  if radar_msgs is None:
-    raise NotImplementedError
-
-  for m in msg.can:
-    if m.src == 1 and m.address in radar_msgs:
-      return ["radarState", "liveTracks"], True
-  return [], False
-
-def calibration_rcv_callback(msg, CP, cfg, fsm):
-  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
-  # should_recv always true to increment frame
-  recv_socks = []
-  frame = fsm.frame + 1  # incrementing hasn't happened yet in SubMaster
-  if frame == 0 or (msg.which() == 'cameraOdometry' and (frame % 5) == 0):
-    recv_socks = ["liveCalibration"]
-  return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry'
-
 CONFIGS = [
   ProcessConfig(
     proc_name="ubloxd",
@@ -91,18 +32,9 @@ CONFIGS = [
       "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"],
     },
     ignore=[],
-    command="./ubloxd & sleep 10; kill $!",
+    command="./ubloxd & sleep 20; kill $!",
     path="../locationd",
   ),
-  ProcessConfig(
-    proc_name="loggerd",
-    pub_sub={
-      "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"],
-    },
-    ignore=[],
-    command="./loggerd & sleep 10; kill $!",
-    path="../loggerd",
-  ),
 ]
 
 def valgrindlauncher(arg, cwd):
@@ -125,23 +57,33 @@ def replay_process(cfg, lr):
   print("Sorting logs")
   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())]
-
+  print(len(pub_msgs))
   thread = threading.Thread(target=valgrindlauncher, args=(cfg.command, cfg.path))
   thread.daemon = True
   thread.start()
-  time.sleep(10)  # We give the process time to start
+  time.sleep(5)  # We give the process time to start
   for msg in tqdm(pub_msgs):
     pm.send(msg.which(), msg.as_builder())
 
-  # for s in pub_sockets:
-  #   pm.send(s, b"")
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+
+def get_segment(segment_name, original=True):
+  route_name, segment_num = segment_name.rsplit("--", 1)
+  if original:
+    rlog_url = BASE_URL + "%s/%s/rlog.bz2" % (route_name.replace("|", "/"), segment_num)
+  else:
+    process_replay_dir = os.path.dirname(os.path.abspath(__file__))
+    model_ref_commit = open(os.path.join(process_replay_dir, "model_ref_commit")).read().strip()
+    rlog_url = BASE_URL + "%s/%s/rlog_%s.bz2" % (route_name.replace("|", "/"), segment_num, model_ref_commit)
+
+  return rlog_url
 
-URL = "https://commadata2.blob.core.windows.net/commadata2/a74b011b32b51b56/2020-09-21--10-29-15\
-/0/rlog.bz2?se=2020-09-29T13%3A13%3A40Z&sp=r&sv=2018-03-28&sr=b&rscd=attachment%3B%20filename%3Da74b011b32b51b56_2020-09-21--10-29-15--0--rlog.bz2&sig=iPiuSfthiYo3xL3tDKoKwr8kQH7odHW%2BqGcCqmnY2EY%3D"
 if __name__ == "__main__":
   cfg = CONFIGS[0]
 
+  URL = get_segment("0375fdf7b1ce594d|2019-06-13--08-32-25--3")
+  print(URL)
   lr = LogReader(URL)
   print(str(cfg))
   replay_process(cfg, lr)
-  time.sleep(15)
+  time.sleep(30)