radard cleanup (#2266)

* some cleanup

* more realistic profiling

* Update selfdrive/controls/radard.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: a77548bff606a20537ed7ff526d605bed1b7a721

selfdrive/test/profiling/lib.py

@@ -11,7 +11,7 @@ class SubSocket():
   def __init__(self, msgs, trigger):
     self.i = 0
     self.trigger = trigger
-    self.msgs = [m for m in msgs if m.which() == trigger]
+    self.msgs = [m.as_builder().to_bytes() for m in msgs if m.which() == trigger]
     self.max_i = len(self.msgs) - 1
 
   def receive(self, non_blocking=False):
@@ -23,16 +23,14 @@ class SubSocket():
 
     while True:
       msg = self.msgs[self.i]
-      msg = msg.as_builder()
-
       self.i += 1
-
-      return msg.to_bytes()
+      return msg
 
 
 class PubSocket():
   def send(self, data):
-    pass
+    if not isinstance(data, bytes):
+      data = data.to_bytes()
 
 
 class SubMaster(messaging.SubMaster):

selfdrive/test/profiling/profiler.py

@@ -32,7 +32,7 @@ def get_inputs(msgs, process):
 
 
 def profile(proc, func, car='toyota'):
-  segment, fingerprint = CARS['toyota']
+  segment, fingerprint = CARS[car]
   segment = segment.replace('|', '/')
   rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
   msgs = list(LogReader(rlog_url))
@@ -66,7 +66,7 @@ if __name__ == '__main__':
     'radard': radard_thread,
     'controlsd': controlsd_thread,
   }
-  
+
   proc = sys.argv[1]
   if proc not in procs:
     print(f"{proc} not available")