fix up can replay script

old-commit-hash: fd81a5556ba918dbd3079edd955a1512aac0f6d6

selfdrive/debug/internal/can_replay.py

@@ -1,106 +0,0 @@
-#!/usr/bin/env python3
-import os
-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, DT_CTRL
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-from tools.lib.logreader import LogReader
-
-from panda import Panda
-try:
-  from panda_jungle import PandaJungle  # pylint: disable=import-error
-except Exception:
-  PandaJungle = None  # type: ignore
-
-ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
-NUM_SEGS = 2 # route has 82 segments available
-
-print("Loading log...")
-CAN_MSGS = []
-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']
-
-# set both to cycle ignition
-IGN_ON = int(os.getenv("ON", "0"))
-IGN_OFF = int(os.getenv("OFF", "0"))
-
-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(5)
-    sender.set_ignition(True)
-    sender.set_panda_power(True)
-  else:
-    sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  sender.set_can_loopback(False)
-
-  ignition = None
-  if IGN_ON > 0 and IGN_OFF > 0:
-    ignition = True
-    print(f"Cycling ignition: on for {IGN_ON}s, off for {IGN_OFF}s")
-
-  log_idx = 0
-  rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None)
-  while True:
-    # handle ignition cycling
-    if ignition is not None:
-      ign = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
-      if ign != ignition:
-        ignition = ign
-        sender.set_ignition(ignition)
-
-    snd = CAN_MSGS[log_idx]
-    log_idx = (log_idx + 1) % len(CAN_MSGS)
-    snd = list(filter(lambda x: x[-1] <= 2, snd))
-    sender.can_send_many(snd)
-
-    # Drain panda message buffer
-    sender.can_recv()
-    rk.keep_time()
-
-def connect():
-  serials = {}
-  while True:
-    # look for new devices
-    for p in [Panda, PandaJungle]:
-      if p is None:
-        continue
-
-      for s in p.list():
-        if s not in serials:
-          print("starting send thread for", s)
-          serials[s] = Process(target=send_thread, args=(p(s), 3))
-          serials[s].start()
-
-    # try to join all send procs
-    cur_serials = serials.copy()
-    for s, p in cur_serials.items():
-      p.join(0.01)
-      if p.exitcode is not None:
-        del serials[s]
-
-    time.sleep(1)
-
-if __name__ == "__main__":
-  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()
-    except Exception:
-      pass