From bdd6ff4f3e6fac235995d825d747081d75d13407 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 Aug 2025 21:46:32 -0700
Subject: [PATCH] process replay: remove frequency based recv callback (#35886)

* wtf is going on?

* rm it

* default
---
 .../test/process_replay/process_replay.py     | 33 +++++--------------
 1 file changed, 9 insertions(+), 24 deletions(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5fb336568..0664f92a9 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -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),