Run controlsd without sockets

old-commit-hash: 4d03b8536f408832208644c36bf020c4a67014ba

selfdrive/test/profiling/controlsd.py

@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+
+from tools.lib.logreader import LogReader
+from selfdrive.controls.controlsd import controlsd_thread
+from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
+
+
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+SEGMENT = "99c94dc769b5d96e|2019-08-03--14-19-59/2"
+
+
+if __name__ == "__main__":
+  segment = SEGMENT.replace('|', '/')
+  rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
+  msgs = list(LogReader(rlog_url))
+
+  pm = PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
+  sm = SubMaster(msgs, 'can', ['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', 'model'])
+  can_sock = SubSocket(msgs, 'can')
+
+  try:
+    controlsd_thread(sm, pm, can_sock)
+  except ReplayDone:
+    pass