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@ -198,6 +198,10 @@ class SubMaster:
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def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
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return self.data[s]
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def _check_avg_freq(self, s):
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return self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
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and (s not in self.ignore_average_freq)
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def update(self, timeout: int = 1000) -> None:
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msgs = []
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for sock in self.poller.poll(timeout):
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@ -218,8 +222,7 @@ class SubMaster:
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s = msg.which()
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self.updated[s] = True
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if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
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and (s not in self.ignore_average_freq):
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if self._check_avg_freq(s):
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self.recv_dts[s].append(cur_time - self.rcv_time[s])
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self.rcv_time[s] = cur_time
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@ -241,12 +244,15 @@ class SubMaster:
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# TODO: check if update frequency is high enough to not drop messages
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# freq_ok if average frequency is higher than 90% of expected frequency
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if len(self.recv_dts[s]) > 0:
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avg_dt = sum(self.recv_dts[s]) / len(self.recv_dts)
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expected_dt = 1 / (self.freq[s] * 0.90)
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self.freq_ok[s] = (avg_dt < expected_dt)
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if self._check_avg_freq(s):
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if len(self.recv_dts[s]) > 0:
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avg_dt = sum(self.recv_dts[s]) / len(self.recv_dts[s])
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expected_dt = 1 / (self.freq[s] * 0.90)
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self.freq_ok[s] = (avg_dt < expected_dt)
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else:
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self.freq_ok[s] = False
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else:
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self.freq_ok[s] = False
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self.freq_ok[s] = True
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else:
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self.freq_ok[s] = True
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self.alive[s] = True
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