From f2e100b0e11a86e664440b2db9b925d5492b4cd9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 Aug 2025 21:36:15 -0700
Subject: [PATCH] process replay: clean up recv callbacks (#35889)

clean up callbacks
---
 .../test/process_replay/process_replay.py     | 39 ++++++-------------
 1 file changed, 11 insertions(+), 28 deletions(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 983046caf8..5fb3365689 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -362,10 +362,6 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
   params.put("CarParams", CP.to_bytes())
 
 
-def selfdrived_rcv_callback(msg, cfg, frame):
-  return (frame - 1) == 0 or msg.which() == 'carState'
-
-
 def card_rcv_callback(msg, cfg, frame):
   # no sendcan until card is initialized
   if msg.which() != "can":
@@ -380,21 +376,6 @@ def card_rcv_callback(msg, cfg, frame):
   return len(socks) > 0
 
 
-def calibration_rcv_callback(msg, cfg, frame):
-  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
-  # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'cameraOdometry'
-
-
-def torqued_rcv_callback(msg, cfg, frame):
-  # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'livePose'
-
-
-def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
-  return msg.which() == "driverCameraState"
-
-
 class ModeldCameraSyncRcvCallback:
   def __init__(self):
     self.road_present = False
@@ -419,11 +400,13 @@ class ModeldCameraSyncRcvCallback:
 
 
 class MessageBasedRcvCallback:
-  def __init__(self, trigger_msg_type):
+  def __init__(self, trigger_msg_type: str, first_frame: bool):
     self.trigger_msg_type = trigger_msg_type
+    self.first_frame = first_frame
 
   def __call__(self, msg, cfg, frame):
-    return msg.which() == self.trigger_msg_type
+    # publish on first frame or trigger msg
+    return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type
 
 
 class FrequencyBasedRcvCallback:
@@ -462,7 +445,7 @@ CONFIGS = [
     ignore=["logMonoTime"],
     config_callback=selfdrived_config_callback,
     init_callback=get_car_params_callback,
-    should_recv_callback=selfdrived_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("carState", True),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
     main_pub="carState",
@@ -475,7 +458,7 @@ CONFIGS = [
     subs=["carControl", "controlsState"],
     ignore=["logMonoTime", ],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("selfdriveState"),
+    should_recv_callback=MessageBasedRcvCallback("selfdriveState", False),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -513,7 +496,7 @@ CONFIGS = [
     subs=["liveCalibration"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=calibration_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
@@ -530,7 +513,7 @@ CONFIGS = [
     ],
     subs=["livePose"],
     ignore=["logMonoTime"],
-    should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
+    should_recv_callback=MessageBasedRcvCallback("cameraOdometry", False),
     tolerance=NUMPY_TOLERANCE,
     unlocked_pubs=["accelerometer", "gyroscope"],
   ),
@@ -550,7 +533,7 @@ CONFIGS = [
     subs=["liveDelay"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    should_recv_callback=MessageBasedRcvCallback("livePose", False),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -565,7 +548,7 @@ CONFIGS = [
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=torqued_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose", True),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -586,7 +569,7 @@ CONFIGS = [
     pubs=["liveCalibration", "driverCameraState"],
     subs=["driverStateV2"],
     ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
-    should_recv_callback=dmonitoringmodeld_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("driverCameraState", False),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
     main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),