replay improvements for testing closet

old-commit-hash: 523a73774a6e1112ce8889f15812138e9c7c5883

selfdrive/debug/internal/can_replay.py

@@ -4,10 +4,12 @@ import time
 from multiprocessing import Process
 from tqdm import tqdm
 
+os.environ['TESTING_CLOSET'] = '1'
 os.environ['FILEREADER_CACHE'] = '1'
 
 from common.realtime import config_realtime_process, Ratekeeper
 from selfdrive.boardd.boardd import can_capnp_to_can_list
+from selfdrive.pandad import set_panda_power
 from tools.lib.logreader import LogReader
 
 from panda import Panda
@@ -16,13 +18,12 @@ try:
 except Exception:
   PandaJungle = None  # type: ignore
 
-
 ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
-NUM_SEGS = 10 # route has 82 segments available
+NUM_SEGS = 2 # route has 82 segments available
 
 print("Loading log...")
 CAN_MSGS = []
-for i in tqdm(list(range(1, NUM_SEGS))):
+for i in tqdm(list(range(1, NUM_SEGS+1))):
   log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
   lr = LogReader(log_url)
   CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
@@ -31,9 +32,12 @@ def send_thread(sender, core):
   config_realtime_process(core, 55)
 
   if "Jungle" in str(type(sender)):
+    for i in [0, 1, 2, 3, 0xFFFF]:
+      sender.can_clear(i)
     sender.set_ignition(False)
-    time.sleep(3)
+    time.sleep(5)
     sender.set_ignition(True)
+    sender.set_panda_power(True)
   else:
     sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
   sender.set_can_loopback(False)
@@ -74,6 +78,13 @@ def connect():
     time.sleep(1)
 
 if __name__ == "__main__":
+  set_panda_power(False)
+  time.sleep(1)
+
+  if "FLASH" in os.environ and PandaJungle is not None:
+    for s in PandaJungle.list():
+      PandaJungle(s).flash()
+
   while True:
     try:
       connect()