parent
21fbe26980
commit
1e5a935ff0
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@ -19,6 +19,9 @@ from common.params import Params
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from cereal.services import service_list
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from collections import namedtuple
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# Numpy gives different results based on CPU features after version 19
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NUMPY_TOLERANCE = 1e-7
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ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance'])
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@ -197,14 +200,16 @@ def radar_rcv_callback(msg, CP, cfg, fsm):
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def calibration_rcv_callback(msg, CP, cfg, fsm):
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# calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
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# should_recv always true to increment frame
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if msg.which() == 'carState':
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if ((fsm.frame + 1) % 25) == 0:
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recv_socks = ["liveCalibration"]
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else:
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recv_socks = []
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return recv_socks, True
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else:
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return [], False
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recv_socks = []
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if msg.which() == 'carState' and ((fsm.frame + 1) % 25) == 0:
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recv_socks = ["liveCalibration"]
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return recv_socks, msg.which() == 'carState'
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def paramsd_rcv_callback(msg, CP, cfg, fsm):
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recv_socks = []
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if msg.which() == 'carState' and ((fsm.frame + 2) % 5) == 0:
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recv_socks = ["liveParameters"]
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return recv_socks, msg.which() == 'carState'
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CONFIGS = [
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@ -262,7 +267,7 @@ CONFIGS = [
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ignore=["logMonoTime", "valid"],
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init_callback=get_car_params,
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should_recv_callback=None,
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tolerance=1e-7,
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tolerance=NUMPY_TOLERANCE,
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),
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ProcessConfig(
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proc_name="locationd",
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@ -273,9 +278,19 @@ CONFIGS = [
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ignore=["logMonoTime", "valid"],
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init_callback=get_car_params,
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should_recv_callback=None,
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tolerance=1e-7, # Numpy gives different results based on CPU features after version 19
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tolerance=NUMPY_TOLERANCE,
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),
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ProcessConfig(
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proc_name="paramsd",
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pub_sub={
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"carState": ["liveParameters"],
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"liveLocationKalman": []
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},
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ignore=["logMonoTime", "valid"],
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init_callback=get_car_params,
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should_recv_callback=paramsd_rcv_callback,
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tolerance=NUMPY_TOLERANCE,
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),
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]
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def replay_process(cfg, lr):
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@ -1 +1 @@
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158743f002e82b62a67c6b91308db01d715f1643
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eac7f0ebb37c2a8a0cf70d3d25d32ecd160d6cac
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@ -6,8 +6,7 @@ from typing import Any
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from selfdrive.car.car_helpers import interface_names
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from selfdrive.test.process_replay.compare_logs import compare_logs
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from selfdrive.test.process_replay.process_replay import (CONFIGS,
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replay_process)
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from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
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from tools.lib.logreader import LogReader
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INJECT_MODEL = 0
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