def get_inputs(msgs, process): for config in CONFIGS: if config.proc_name == process: sub_socks = list(config.pub_sub.keys()) trigger = sub_socks[0] break sm = SubMaster(msgs, trigger, sub_socks) pm = PubMaster() can_sock = SubSocket(msgs, 'can') return sm, pm, can_sock
def get_inputs(msgs, process): for config in CONFIGS: if config.proc_name == process: sub_socks = list(config.pub_sub.keys()) trigger = sub_socks[0] break # some procs block on CarParams for msg in msgs: if msg.which() == 'carParams': Params().put("CarParams", msg.as_builder().to_bytes()) break sm = SubMaster(msgs, trigger, sub_socks) pm = PubMaster() if 'can' in sub_socks: can_sock = SubSocket(msgs, 'can') else: can_sock = None return sm, pm, can_sock
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') # Statistical with pprofile.StatisticalProfile()(period=0.00001) as pr: try: controlsd_thread(sm, pm, can_sock) except ReplayDone: pass pr.dump_stats('cachegrind.out.controlsd_statistical') # Deterministic pm = PubMaster([ 'sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams' ]) sm = SubMaster(msgs, 'can', [