From cb45784238b7c7e40fd4ea9d8b1cedfd62272bbe Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 24 Jan 2022 12:06:43 +0100 Subject: [PATCH] process replay: disable alive checks for cpp replay old-commit-hash: c51561c2ca716b88dd68a7e2d6937e590719ae2b --- selfdrive/test/process_replay/process_replay.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index e402d14186..0296e76ece 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -342,7 +342,7 @@ def replay_process(cfg, lr, fingerprint=None): else: return cpp_replay_process(cfg, lr, fingerprint) -def setup_env(): +def setup_env(simulation=False): params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) @@ -352,6 +352,11 @@ def setup_env(): os.environ["NO_RADAR_SLEEP"] = "1" os.environ["REPLAY"] = "1" + if simulation: + os.environ["SIMULATION"] = "1" + elif "SIMULATION" in os.environ: + del os.environ["SIMULATION"] + def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can'] @@ -449,7 +454,8 @@ def cpp_replay_process(cfg, lr, fingerprint=None): pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] log_msgs = [] - setup_env() + # We need to fake SubMaster alive since we can't inject a fake clock + setup_env(simulation=True) managed_processes[cfg.proc_name].prepare() managed_processes[cfg.proc_name].start()