Reduce paramsd and calibrationd CPU usage (#2119)

* reduce paramsd cpu

* reduce calibrationd cpu usage

* calibration_helpers was mostly unused

* more calibration cleanup

* update refs

* fix thresholds in CPU test

selfdrive/test/process_replay/process_replay.py

@@ -201,16 +201,10 @@ def calibration_rcv_callback(msg, CP, cfg, fsm):
   # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
   # should_recv always true to increment frame
   recv_socks = []
-  if msg.which() == 'carState' and ((fsm.frame + 1) % 25) == 0:
+  frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster
+  if frame == 0 or (msg.which() == 'cameraOdometry' and (frame % 5) == 0):
     recv_socks = ["liveCalibration"]
-  return recv_socks, msg.which() == 'carState'
-
-def paramsd_rcv_callback(msg, CP, cfg, fsm):
-  recv_socks = []
-  if msg.which() == 'carState' and ((fsm.frame + 2) % 5) == 0:
-    recv_socks = ["liveParameters"]
-  return recv_socks, msg.which() == 'carState'
-
+  return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry'
 
 CONFIGS = [
   ProcessConfig(
@@ -283,12 +277,12 @@ CONFIGS = [
   ProcessConfig(
     proc_name="paramsd",
     pub_sub={
-      "carState": ["liveParameters"],
-      "liveLocationKalman": []
+      "liveLocationKalman": ["liveParameters"],
+      "carState": []
     },
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,
-    should_recv_callback=paramsd_rcv_callback,
+    should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
   ),
 ]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b47257005e7408737c66463c45f5db36153a849d
+5c2c99c4572d68f17ffa3a33acf8e4e205ca94c2

selfdrive/test/test_cpu_usage.py

@@ -19,17 +19,17 @@ def print_cpu_usage(first_proc, last_proc):
     ("./loggerd", 33.90),
     ("selfdrive.locationd.locationd", 29.5),
     ("selfdrive.controls.plannerd", 11.84),
-    ("selfdrive.locationd.paramsd", 11.53),
+    ("selfdrive.locationd.paramsd", 10.5),
     ("./_modeld", 7.12),
     ("selfdrive.controls.radard", 9.54),
     ("./camerad", 7.07),
     ("./_sensord", 6.17),
-    ("selfdrive.locationd.calibrationd", 6.0),
     ("./_ui", 5.82),
     ("./boardd", 3.63),
     ("./_dmonitoringmodeld", 2.67),
     ("selfdrive.logmessaged", 2.71),
     ("selfdrive.thermald.thermald", 2.41),
+    ("selfdrive.locationd.calibrationd", 2.0),
     ("selfdrive.monitoring.dmonitoringd", 1.90),
     ("./proclogd", 1.54),
     ("./_gpsd", 0.09),