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', [