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bump pandaStates to 10Hz (#29889)

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* bump pandaStates to 10Hz

* run thermald at 2 Hz

* use service list for freq

* even better

* fix import

* use DT_TRML

* revert service list

* bump cereal

* no inter

* not sure why 5hz before

* revert

* revert peripheral

* poll on peripheralState

after pandaStates

* Revert "poll on peripheralState"

This reverts commit 5eecb83e070dd51b550a47f3e0e7a1600b8da4e4.

* revert this

* bump

* cmt

* fix

* bump to master
This commit is contained in:
Shane Smiskol
2023-09-21 18:35:14 -07:00
committed by GitHub
parent 7f073483bb
commit d47e8f53a5
3 changed files with 14 additions and 6 deletions
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2
cereal

Submodule cereal updated: aed84aeedf...6bd65e7c7f

11
selfdrive/boardd/boardd.cc
View File

@@ -472,12 +472,15 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
LOGD("start panda state thread");
// run at 2hz
RateKeeper rk("panda_state_thread", 2);
// run at 10hz
RateKeeper rk("panda_state_thread", 10);
while (!do_exit && check_all_connected(pandas)) {
// send out peripheralState
send_peripheral_state(&pm, peripheral_panda);
// send out peripheralState at 2Hz
if (sm.frame % 5 == 0) {
send_peripheral_state(&pm, peripheral_panda);
}
auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
if (!ignition_opt) {

7
selfdrive/thermald/thermald.py
View File

@@ -13,6 +13,7 @@ import psutil
import cereal.messaging as messaging
from cereal import log
from cereal.services import SERVICE_LIST
from openpilot.common.dict_helpers import strip_deprecated_keys
from openpilot.common.time import MIN_DATE
from openpilot.common.filter_simple import FirstOrderFilter
@@ -33,7 +34,7 @@ NetworkStrength = log.DeviceState.NetworkStrength
CURRENT_TAU = 15. # 15s time constant
TEMP_TAU = 5. # 5s time constant
DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect so you get an alert
PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML) # 1.5x the expected pandaState frequency
PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5) # 1.5x the expected pandaState frequency
ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
@@ -210,6 +211,10 @@ def thermald_thread(end_event, hw_queue) -> None:
while not end_event.is_set():
sm.update(PANDA_STATES_TIMEOUT)
# Run at 2Hz
if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0:
continue
pandaStates = sm['pandaStates']
peripheralState = sm['peripheralState']
peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown