delay controls start (#20761)

* delay controls start

* shouldn't need this stuff anymore

* only delay board

* bail after 2s

* fix loopback test

* fix process replay

* update refs

* bump cereal

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: f9a961f6fb69f36f8a113246920b2d71e6af8ae1

selfdrive/test/process_replay/compare_logs.py

@@ -4,6 +4,7 @@ import os
 import sys
 import numbers
 import dictdiffer
+from collections import Counter
 
 if "CI" in os.environ:
   def tqdm(x):
@@ -60,7 +61,9 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
   log1, log2 = [list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)]
 
   if len(log1) != len(log2):
-    raise Exception(f"logs are not same length: {len(log1)} VS {len(log2)}")
+    cnt1 = Counter([m.which() for m in log1])
+    cnt2 = Counter([m.which() for m in log2])
+    raise Exception(f"logs are not same length: {len(log1)} VS {len(log2)}\n\t\t{cnt1}\n\t\t{cnt2}")
 
   diff = []
   for msg1, msg2 in tqdm(zip(log1, log2)):

selfdrive/test/process_replay/process_replay.py

@@ -90,7 +90,6 @@ class FakeSubMaster(messaging.SubMaster):
     self.sock = {s: DumbSocket(s) for s in services}
     self.update_called = threading.Event()
     self.update_ready = threading.Event()
-
     self.wait_on_getitem = False
 
   def __getitem__(self, s):
@@ -183,6 +182,13 @@ def get_car_params(msgs, fsm, can_sock):
   _, CP = get_car(can, sendcan)
   Params().put("CarParams", CP.to_bytes())
 
+def controlsd_rcv_callback(msg, CP, cfg, fsm):
+  # no sendcan until controlsd is initialized
+  socks = [s for s in cfg.pub_sub[msg.which()] if
+           (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
+  if "sendcan" in socks and fsm.frame < 2000:
+    socks.remove("sendcan")
+  return socks, len(socks) > 0
 
 def radar_rcv_callback(msg, CP, cfg, fsm):
   if msg.which() != "can":
@@ -232,7 +238,7 @@ CONFIGS = [
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     init_callback=fingerprint,
-    should_recv_callback=None,
+    should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     fake_pubsubmaster=True,
   ),
@@ -388,7 +394,7 @@ def python_replay_process(cfg, lr):
       recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm)
     else:
       recv_socks = [s for s in cfg.pub_sub[msg.which()] if
-                      (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
+                    (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
       should_recv = bool(len(recv_socks))
 
     if msg.which() == 'can':
@@ -404,7 +410,6 @@ def python_replay_process(cfg, lr):
       while recv_cnt > 0:
         m = fpm.wait_for_msg()
         log_msgs.append(m)
-
         recv_cnt -= m.which() in recv_socks
   return log_msgs
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d48ac24ef8432244c8074337666c17bc9bfef442
+8bc705247a6f316da0a74d28d393101e8dcfcf57