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