process replay: clean up recv callbacks (#35889)

clean up callbacks
pull/35886/head
Shane Smiskol 3 days ago committed by GitHub
parent 8b0bfd7910
commit f2e100b0e1
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
  1. 39
      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()) 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): def card_rcv_callback(msg, cfg, frame):
# no sendcan until card is initialized # no sendcan until card is initialized
if msg.which() != "can": if msg.which() != "can":
@ -380,21 +376,6 @@ def card_rcv_callback(msg, cfg, frame):
return len(socks) > 0 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: class ModeldCameraSyncRcvCallback:
def __init__(self): def __init__(self):
self.road_present = False self.road_present = False
@ -419,11 +400,13 @@ class ModeldCameraSyncRcvCallback:
class MessageBasedRcvCallback: 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.trigger_msg_type = trigger_msg_type
self.first_frame = first_frame
def __call__(self, msg, cfg, 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: class FrequencyBasedRcvCallback:
@ -462,7 +445,7 @@ CONFIGS = [
ignore=["logMonoTime"], ignore=["logMonoTime"],
config_callback=selfdrived_config_callback, config_callback=selfdrived_config_callback,
init_callback=get_car_params_callback, init_callback=get_car_params_callback,
should_recv_callback=selfdrived_rcv_callback, should_recv_callback=MessageBasedRcvCallback("carState", True),
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
processing_time=0.004, processing_time=0.004,
main_pub="carState", main_pub="carState",
@ -475,7 +458,7 @@ CONFIGS = [
subs=["carControl", "controlsState"], subs=["carControl", "controlsState"],
ignore=["logMonoTime", ], ignore=["logMonoTime", ],
init_callback=get_car_params_callback, init_callback=get_car_params_callback,
should_recv_callback=MessageBasedRcvCallback("selfdriveState"), should_recv_callback=MessageBasedRcvCallback("selfdriveState", False),
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
), ),
ProcessConfig( ProcessConfig(
@ -513,7 +496,7 @@ CONFIGS = [
subs=["liveCalibration"], subs=["liveCalibration"],
ignore=["logMonoTime"], ignore=["logMonoTime"],
init_callback=get_car_params_callback, init_callback=get_car_params_callback,
should_recv_callback=calibration_rcv_callback, should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
), ),
ProcessConfig( ProcessConfig(
proc_name="dmonitoringd", proc_name="dmonitoringd",
@ -530,7 +513,7 @@ CONFIGS = [
], ],
subs=["livePose"], subs=["livePose"],
ignore=["logMonoTime"], ignore=["logMonoTime"],
should_recv_callback=MessageBasedRcvCallback("cameraOdometry"), should_recv_callback=MessageBasedRcvCallback("cameraOdometry", False),
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
unlocked_pubs=["accelerometer", "gyroscope"], unlocked_pubs=["accelerometer", "gyroscope"],
), ),
@ -550,7 +533,7 @@ CONFIGS = [
subs=["liveDelay"], subs=["liveDelay"],
ignore=["logMonoTime"], ignore=["logMonoTime"],
init_callback=get_car_params_callback, init_callback=get_car_params_callback,
should_recv_callback=MessageBasedRcvCallback("livePose"), should_recv_callback=MessageBasedRcvCallback("livePose", False),
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
), ),
ProcessConfig( ProcessConfig(
@ -565,7 +548,7 @@ CONFIGS = [
subs=["liveTorqueParameters"], subs=["liveTorqueParameters"],
ignore=["logMonoTime"], ignore=["logMonoTime"],
init_callback=get_car_params_callback, init_callback=get_car_params_callback,
should_recv_callback=torqued_rcv_callback, should_recv_callback=MessageBasedRcvCallback("livePose", True),
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
), ),
ProcessConfig( ProcessConfig(
@ -586,7 +569,7 @@ CONFIGS = [
pubs=["liveCalibration", "driverCameraState"], pubs=["liveCalibration", "driverCameraState"],
subs=["driverStateV2"], subs=["driverStateV2"],
ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"], ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
should_recv_callback=dmonitoringmodeld_rcv_callback, should_recv_callback=MessageBasedRcvCallback("driverCameraState", False),
tolerance=NUMPY_TOLERANCE, tolerance=NUMPY_TOLERANCE,
processing_time=0.020, processing_time=0.020,
main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream), main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),

Loading…
Cancel
Save