From ad7ba280ec6536015ac1a442c9732bfe42fd5664 Mon Sep 17 00:00:00 2001
From: Gregor Kikelj <gregor1234567890@gmail.com>
Date: Thu, 1 Oct 2020 12:59:28 +0200
Subject: [PATCH] wait for message confirmation

---
 opendbc                                |  2 +-
 panda                                  |  2 +-
 selfdrive/test/test_valgrind_replay.py | 64 +++++++++++---------------
 3 files changed, 29 insertions(+), 39 deletions(-)

diff --git a/opendbc b/opendbc
index e4c1664e5a..209d968b75 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit e4c1664e5a87f4ff012e7038e44759f37e21adb0
+Subproject commit 209d968b750ac9aa8ee91d48b6ad639e151b98af
diff --git a/panda b/panda
index 8b41ed3b81..09997428f3 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 8b41ed3b81b0315a5f9c9aa0cad84bfaef91f3f4
+Subproject commit 09997428f3417c6eb137dffe1b7639455401efaa
diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py
index d838fbfa82..4611c3e621 100644
--- a/selfdrive/test/test_valgrind_replay.py
+++ b/selfdrive/test/test_valgrind_replay.py
@@ -13,10 +13,8 @@ else:
 import cereal.messaging as messaging
 from collections import namedtuple
 from tools.lib.logreader import LogReader
-
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path'])
-
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+from selfdrive.test.process_replay.test_processes import get_segment
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response'])
 
 CONFIGS = [
   ProcessConfig(
@@ -25,28 +23,20 @@ CONFIGS = [
       "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"],
     },
     ignore=[],
-    command="./ubloxd & sleep 20; kill $!",
+    command="./ubloxd",
     path="../locationd",
+    segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
+    wait_for_response=True
   ),
 ]
 
-class SimplePubMaster():
-  def __init__(self, services):  # pylint: disable=super-init-not-called
-    self.sock = {}
-    for s in services:
-      self.sock[s] = messaging.pub_sock(s)
-
-  def send(self, s, dat):
-    # print(dat)
-    self.sock[s].send(dat.to_bytes())
-
 class TestValgrind(unittest.TestCase):
 
   def valgrindlauncher(self, arg, cwd):
     os.chdir(cwd)
 
     # Run valgrind on a process
-    command = "valgrind --leak-check=full " + arg
+    command = "valgrind --leak-check=full " + arg + " & sleep 20; kill $!"
 
     p = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True)
     _, err = p.communicate()
@@ -59,45 +49,45 @@ class TestValgrind(unittest.TestCase):
     possibly_lost_amount = int(err_lost3.split(" ")[0])
     if max(definitely_lost_amount, indirectly_lost_amount, possibly_lost_amount) > 0:
       self.leak = True
-      print(err)
+      print(definitely_lost_amount, indirectly_lost_amount, possibly_lost_amount)
+      # print(err)
       return
     self.leak = False
 
-  def replay_process(self, cfg, lr):
-    pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']  # We dump data from logs here
+  def replay_process(self, config, logreader):
+    pub_sockets = [s for s in config.pub_sub.keys()]  # We dump data from logs here
+    sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub]  # We get responses here
+    pm = messaging.PubMaster(pub_sockets)
+    sm = messaging.SubMaster(sub_sockets)
 
-    pm = SimplePubMaster(pub_sockets)
     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())]
+    all_msgs = sorted(logreader, key=lambda msg: msg.logMonoTime)
+    pub_msgs = [msg for msg in all_msgs if msg.which() in list(config.pub_sub.keys())]
 
-    thread = threading.Thread(target=self.valgrindlauncher, args=(cfg.command, cfg.path))
+    thread = threading.Thread(target=self.valgrindlauncher, args=(config.command, config.path))
     thread.daemon = True
     thread.start()
+
     time.sleep(5)  # We give the process time to start
     for msg in tqdm(pub_msgs):
       pm.send(msg.which(), msg.as_builder())
-
-  def get_segment(self, 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
+      if config.wait_for_response:
+        gotResponse = False
+        while not gotResponse:
+          sm.update()
+          for s in sub_sockets:
+            if sm.updated[s]:
+              gotResponse = True
 
   def test_config_0(self):
     cfg = CONFIGS[0]
 
-    URL = self.get_segment("0375fdf7b1ce594d|2019-06-13--08-32-25--3")
-    lr = LogReader(URL)
+    URL = cfg.segment
+    lr = LogReader(get_segment(URL))
     self.replay_process(cfg, lr)
     # Wait for the replay to complete
     time.sleep(30)
-    assert not self.leak
+    self.assertFalse(self.leak)
 
 if __name__ == "__main__":
   unittest.main()