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process_replay: improved support for drained pubs (#28452)

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Stop triggering empty update if there're no drained messages in the queue
This commit is contained in:
Kacper Rączy
2023-06-08 01:23:02 +02:00
committed by GitHub
parent 02841cede3
commit d932aae327
1 changed files with 8 additions and 3 deletions
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11
selfdrive/test/process_replay/process_replay.py
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@@ -77,9 +77,9 @@ class ReplayContext:
def wait_for_recv_called(self):
messaging.wait_for_one_event(self.all_recv_called_events)
def wait_for_next_recv(self, end_of_cycle):
def wait_for_next_recv(self, trigger_empty_recv):
index = messaging.wait_for_one_event(self.all_recv_called_events)
if self.drained_pub is not None and end_of_cycle:
if self.drained_pub is not None and trigger_empty_recv:
self.all_recv_called_events[index].clear()
self.all_recv_ready_events[index].set()
self.all_recv_called_events[index].wait()
@@ -419,12 +419,17 @@ def _replay_single_process(cfg, lr, fingerprint):
for s in sockets.values():
messaging.recv_one_or_none(s)
# empty recv on drained pub indicates the end of messages, only do that if there're any
trigger_empty_recv = False
if cfg.drained_pub:
trigger_empty_recv = next((True for m in msg_queue if m.which() == cfg.drained_pub), False)
for m in msg_queue:
pm.send(m.which(), m.as_builder())
msg_queue = []
rc.unlock_sockets()
rc.wait_for_next_recv(True)
rc.wait_for_next_recv(trigger_empty_recv)
for s in resp_sockets:
ms = messaging.drain_sock(sockets[s])