From a54af8f1f7139da2edf4b85a860af8a84d580260 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 16 Dec 2022 23:39:16 -0800 Subject: [PATCH] fix gnss support if both is available --- selfdrive/test/process_replay/process_replay.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 825f69e745..3ef22f8f8c 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -448,6 +448,9 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): if CP.openpilotLongitudinalControl: params.put_bool("ExperimentalLongitudinalEnabled", True) +def laikad_preprocessing(pub_msgs, use_qcom): + service = "qcomGnss" if use_qcom else "ubloxGnss" + return [m for m in pub_msgs if m.which() == service or m.which() == 'clocks'] def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] @@ -464,8 +467,11 @@ def python_replay_process(cfg, lr, fingerprint=None): pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] # laikad needs decision between submaster ubloxGnss and qcomGnss + # PRIO: given to ubloxGnss if cfg.proc_name == "laikad": args = (*args, not any(m.which() == "ubloxGnss" for m in pub_msgs)) + service = "qcomGnss" if args[2] else "ubloxGnss" + pub_msgs = [m for m in pub_msgs if m.which() == service or m.which() == 'clocks'] controlsState = None initialized = False