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process replay: rm dummy sockets (#35883)

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* rm dummy sockets

* debug

* clean up

* cu
This commit is contained in:
Shane Smiskol
2025-08-01 18:38:42 -07:00
committed by GitHub
parent dd09c4f341
commit 5c73681be8
1 changed files with 6 additions and 24 deletions
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selfdrive/test/process_replay/process_replay.py
+6 -24
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@@ -17,12 +17,12 @@ import cereal.messaging as messaging
from cereal import car
from cereal.services import SERVICE_LIST
from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
from opendbc.car.can_definitions import CanData
from opendbc.car.car_helpers import get_car, interfaces
from openpilot.common.params import Params
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.timeout import Timeout
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car.card import can_comm_callbacks
from openpilot.system.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -36,20 +36,6 @@ PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
class DummySocket:
def __init__(self):
self.data: list[bytes] = []
def receive(self, non_blocking: bool = False) -> bytes | None:
if non_blocking:
return None
return self.data.pop()
def send(self, data: bytes):
self.data.append(data)
class LauncherWithCapture:
def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
self.capture = capture
@@ -356,25 +342,21 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
CarInterface = interfaces[fingerprint]
CP = CarInterface.get_non_essential_params(fingerprint)
else:
can = DummySocket()
sendcan = DummySocket()
canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300))
can_msgs = ([CanData(can.address, can.dat, can.src) for can in m.can] for m in msgs if m.which() == "can")
cached_params_raw = params.get("CarParamsCache")
assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
assert next(can_msgs, None), "CAN messages are required for fingerprinting"
assert os.environ.get("SKIP_FW_QUERY", False) or cached_params_raw is not None, \
"CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
for m in canmsgs:
can.send(m.as_builder().to_bytes())
can_callbacks = can_comm_callbacks(can, sendcan)
def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
return [next(can_msgs, [])]
cached_params = None
if cached_params_raw is not None:
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = _cached_params
CP = get_car(*can_callbacks, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP
CP = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params).CP
params.put("CarParams", CP.to_bytes())