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process replay: remove frequency based recv callback (#35886)

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* wtf is going on?

* rm it

* default
This commit is contained in:
Shane Smiskol
2025-08-01 21:46:32 -07:00
committed by GitHub
parent f2e100b0e1
commit bdd6ff4f3e
1 changed files with 9 additions and 24 deletions
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selfdrive/test/process_replay/process_replay.py
+9 -24
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@@ -400,7 +400,7 @@ class ModeldCameraSyncRcvCallback:
class MessageBasedRcvCallback:
def __init__(self, trigger_msg_type: str, first_frame: bool):
def __init__(self, trigger_msg_type: str, first_frame: bool = False):
self.trigger_msg_type = trigger_msg_type
self.first_frame = first_frame
@@ -409,21 +409,6 @@ class MessageBasedRcvCallback:
return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type
class FrequencyBasedRcvCallback:
def __init__(self, trigger_msg_type):
self.trigger_msg_type = trigger_msg_type
def __call__(self, msg, cfg, frame):
if msg.which() != self.trigger_msg_type:
return False
resp_sockets = [
s for s in cfg.subs
if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
]
return bool(len(resp_sockets))
def selfdrived_config_callback(params, cfg, lr):
ublox = params.get_bool("UbloxAvailable")
sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
@@ -458,7 +443,7 @@ CONFIGS = [
subs=["carControl", "controlsState"],
ignore=["logMonoTime", ],
init_callback=get_car_params_callback,
should_recv_callback=MessageBasedRcvCallback("selfdriveState", False),
should_recv_callback=MessageBasedRcvCallback("selfdriveState"),
tolerance=NUMPY_TOLERANCE,
),
ProcessConfig(
@@ -479,7 +464,7 @@ CONFIGS = [
subs=["radarState"],
ignore=["logMonoTime"],
init_callback=get_car_params_callback,
should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
should_recv_callback=MessageBasedRcvCallback("modelV2"),
),
ProcessConfig(
proc_name="plannerd",
@@ -487,7 +472,7 @@ CONFIGS = [
subs=["longitudinalPlan", "driverAssistance"],
ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
init_callback=get_car_params_callback,
should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
should_recv_callback=MessageBasedRcvCallback("modelV2"),
tolerance=NUMPY_TOLERANCE,
),
ProcessConfig(
@@ -503,7 +488,7 @@ CONFIGS = [
pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
subs=["driverMonitoringState"],
ignore=["logMonoTime"],
should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
tolerance=NUMPY_TOLERANCE,
),
ProcessConfig(
@@ -513,7 +498,7 @@ CONFIGS = [
],
subs=["livePose"],
ignore=["logMonoTime"],
should_recv_callback=MessageBasedRcvCallback("cameraOdometry", False),
should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
tolerance=NUMPY_TOLERANCE,
unlocked_pubs=["accelerometer", "gyroscope"],
),
@@ -523,7 +508,7 @@ CONFIGS = [
subs=["liveParameters"],
ignore=["logMonoTime"],
init_callback=get_car_params_callback,
should_recv_callback=FrequencyBasedRcvCallback("livePose"),
should_recv_callback=MessageBasedRcvCallback("livePose"),
tolerance=NUMPY_TOLERANCE,
processing_time=0.004,
),
@@ -533,7 +518,7 @@ CONFIGS = [
subs=["liveDelay"],
ignore=["logMonoTime"],
init_callback=get_car_params_callback,
should_recv_callback=MessageBasedRcvCallback("livePose", False),
should_recv_callback=MessageBasedRcvCallback("livePose"),
tolerance=NUMPY_TOLERANCE,
),
ProcessConfig(
@@ -569,7 +554,7 @@ CONFIGS = [
pubs=["liveCalibration", "driverCameraState"],
subs=["driverStateV2"],
ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
should_recv_callback=MessageBasedRcvCallback("driverCameraState", False),
should_recv_callback=MessageBasedRcvCallback("driverCameraState"),
tolerance=NUMPY_TOLERANCE,
processing_time=0.020,
main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),