Testing Closet changes

selfdrive/locationd/calibrationd.py

@@ -41,6 +41,7 @@
 PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
 YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
 DEBUG = os.getenv("DEBUG") is not None
+TESTING_CLOSET = os.getenv("TESTING_CLOSET") is not None
 
 
 def is_calibration_valid(rpy: np.ndarray) -> bool:
@@ -268,7 +269,7 @@ def main() -> NoReturn:
     timeout = 0 if sm.frame == -1 else 100
     sm.update(timeout)
 
-    calibrator.not_car = sm['carParams'].notCar
+    calibrator.not_car = sm['carParams'].notCar or TESTING_CLOSET
 
     if sm.updated['cameraOdometry']:
       calibrator.handle_v_ego(sm['carState'].vEgo)

selfdrive/selfdrived/selfdrived.py

@@ -154,7 +154,7 @@ def update_events(self, CS):
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
-    if not self.CP.notCar:
+    if not self.CP.notCar and not TESTING_CLOSET:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
     # Add car events, ignore if CAN isn't valid
@@ -277,12 +277,12 @@ def update_events(self, CS):
     else:
       self.logged_comm_issue = None
 
-    if not self.CP.notCar:
+    if not self.CP.notCar and not TESTING_CLOSET:
       if not self.sm['livePose'].posenetOK:
         self.events.add(EventName.posenetInvalid)
       if not self.sm['livePose'].inputsOK:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      if not self.sm['liveParameters'].valid and (not SIMULATION or REPLAY):
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
@@ -370,7 +370,7 @@ def data_sample(self):
           self.sm.ignore_alive.append('wideRoadCameraState')
           self.sm.ignore_valid.append('wideRoadCameraState')
 
-        if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
+        if (REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates'])) or TESTING_CLOSET:
           self.state_machine.state = State.enabled
 
         self.initialized = True

selfdrive/ui/soundd.py

@@ -1,3 +1,4 @@
+import os
 import math
 import numpy as np
 import time
@@ -13,6 +14,8 @@
 
 from openpilot.system import micd
 
+TESTING_CLOSET = "TESTING_CLOSET" in os.environ
+
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
@@ -123,7 +126,7 @@ def get_audible_alert(self, sm):
 
   def calculate_volume(self, weighted_db):
     volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
-    return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1))
+    return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - (1 if not TESTING_CLOSET else 2)))
 
   @retry(attempts=7, delay=3)
   def get_stream(self, sd):

system/loggerd/uploader.py

@@ -30,6 +30,7 @@
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
+TESTING_CLOSET = os.getenv("TESTING_CLOSET") is not None
 
 
 class FakeRequest:
@@ -83,7 +84,7 @@ def __init__(self, dongle_id: str, root: str):
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1} if not TESTING_CLOSET else {"rlog": 0, "rlog.zst": 0}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
@@ -170,7 +171,7 @@ def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool)
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
+    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE and not TESTING_CLOSET:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else: