radard: remove sleep for cars without radar (#31467)

* radard: remove sleep for cars without radar

* fix

* update refs

selfdrive/car/interfaces.py

@@ -1,6 +1,5 @@
 import json
 import os
-import time
 import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
@@ -322,13 +321,14 @@ class RadarInterfaceBase(ABC):
     self.pts = {}
     self.delay = 0
     self.radar_ts = CP.radarTimeStep
+    self.frame = 0
     self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
 
   def update(self, can_strings):
-    ret = car.RadarData.new_message()
-    if not self.no_radar_sleep:
-      time.sleep(self.radar_ts)  # radard runs on RI updates
-    return ret
+    self.frame += 1
+    if (self.frame % int(100 * self.radar_ts)) == 0:
+      return car.RadarData.new_message()
+    return None
 
 
 class CarStateBase(ABC):

selfdrive/car/tests/test_car_interfaces.py

@@ -46,11 +46,6 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
 
 
 class TestCarInterfaces(unittest.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    os.environ['NO_RADAR_SLEEP'] = '1'
-
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
   @parameterized.expand([(car,) for car in sorted(all_known_cars())])

selfdrive/car/tests/test_models.py

@@ -234,7 +234,6 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    os.environ['NO_RADAR_SLEEP'] = "1"
     RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
     RI = RadarInterface(self.CP)
     assert RI

selfdrive/test/process_replay/process_replay.py

@@ -762,7 +762,6 @@ def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str
   if log_dir is not None:
     environ_dict["LOG_ROOT"] = log_dir
 
-  environ_dict["NO_RADAR_SLEEP"] = "1"
   environ_dict["REPLAY"] = "1"
 
   # Regen or python process

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-bd44a98bdb248f3c7b988f81ee130c2542b18ae7
+7d25b1f7d0bd3b506fa4e72ff893728894eb1a45