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process replay: set full env in cpp replay

pull/23088/head
Adeeb Shihadeh 2021-11-30 18:18:12 -08:00
parent bc57ffd16f
commit b3b5beb627
1 changed files with 14 additions and 11 deletions
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25
selfdrive/test/process_replay/process_replay.py
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@ -341,6 +341,15 @@ def replay_process(cfg, lr, fingerprint=None):
else:
return cpp_replay_process(cfg, lr, fingerprint)
def setup_env():
params = Params()
params.clear_all()
params.put_bool("OpenpilotEnabledToggle", True)
params.put_bool("Passive", False)
params.put_bool("CommunityFeaturesToggle", True)
os.environ['NO_RADAR_SLEEP'] = "1"
os.environ["SIMULATION"] = "1"
def python_replay_process(cfg, lr, fingerprint=None):
sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
@ -356,15 +365,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
params = Params()
params.clear_all()
params.put_bool("OpenpilotEnabledToggle", True)
params.put_bool("Passive", False)
params.put_bool("CommunityFeaturesToggle", True)
os.environ['NO_RADAR_SLEEP'] = "1"
os.environ["SIMULATION"] = "1"
setup_env()
# TODO: remove after getting new route for civic & accord
migration = {
@ -384,7 +385,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
if msg.which() == 'carParams':
car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS):
params.put("CarParamsCache", msg.carParams.as_builder().to_bytes())
Params().put("CarParamsCache", msg.carParams.as_builder().to_bytes())
else:
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = car_fingerprint
@ -402,7 +403,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
can_sock = None
cfg.init_callback(all_msgs, fsm, can_sock, fingerprint)
CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
# wait for started process to be ready
if 'can' in list(cfg.pub_sub.keys()):
@ -447,6 +448,8 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
log_msgs = []
setup_env()
managed_processes[cfg.proc_name].prepare()
managed_processes[cfg.proc_name].start()