paramsd process replay test (#2118)

* paramsd process replay test

* cleanup
old-commit-hash: 1e5a935ff00916efe65046f50d46a77d091c2e29

selfdrive/test/process_replay/process_replay.py

@@ -19,6 +19,9 @@ from common.params import Params
 from cereal.services import service_list
 from collections import namedtuple
 
+# Numpy gives different results based on CPU features after version 19
+NUMPY_TOLERANCE = 1e-7
+
 ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance'])
 
 
@@ -197,14 +200,16 @@ def radar_rcv_callback(msg, CP, cfg, fsm):
 def calibration_rcv_callback(msg, CP, cfg, fsm):
   # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
   # should_recv always true to increment frame
-  if msg.which() == 'carState':
+  recv_socks = []
-    if ((fsm.frame + 1) % 25) == 0:
+  if msg.which() == 'carState' and ((fsm.frame + 1) % 25) == 0:
-      recv_socks = ["liveCalibration"]
+    recv_socks = ["liveCalibration"]
-    else:
+  return recv_socks, msg.which() == 'carState'
-      recv_socks = []
+
-    return recv_socks, True
+def paramsd_rcv_callback(msg, CP, cfg, fsm):
-  else:
+  recv_socks = []
-    return [], False
+  if msg.which() == 'carState' and ((fsm.frame + 2) % 5) == 0:
+    recv_socks = ["liveParameters"]
+  return recv_socks, msg.which() == 'carState'
 
 
 CONFIGS = [
@@ -262,7 +267,7 @@ CONFIGS = [
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,
     should_recv_callback=None,
-    tolerance=1e-7,
+    tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
     proc_name="locationd",
@@ -273,9 +278,19 @@ CONFIGS = [
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,
     should_recv_callback=None,
-    tolerance=1e-7,  # Numpy gives different results based on CPU features after version 19
+    tolerance=NUMPY_TOLERANCE,
+  ),
+  ProcessConfig(
+    proc_name="paramsd",
+    pub_sub={
+      "carState": ["liveParameters"],
+      "liveLocationKalman": []
+    },
+    ignore=["logMonoTime", "valid"],
+    init_callback=get_car_params,
+    should_recv_callback=paramsd_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
   ),
-
 ]
 
 def replay_process(cfg, lr):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-158743f002e82b62a67c6b91308db01d715f1643
+eac7f0ebb37c2a8a0cf70d3d25d32ecd160d6cac

selfdrive/test/process_replay/test_processes.py

@@ -6,8 +6,7 @@ from typing import Any
 
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.process_replay.compare_logs import compare_logs
-from selfdrive.test.process_replay.process_replay import (CONFIGS,
+from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-                                                          replay_process)
 from tools.lib.logreader import LogReader
 
 INJECT_MODEL = 0