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SubMaster: improve service aliveness checks (#31391) 

* bump cereal

* fix

* fixes

* single poll

* bump

* bump

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 279d2c3b23
This commit is contained in:
Adeeb Shihadeh 2024-02-12 10:11:37 -08:00 committed by GitHub
parent 54a012c30d
commit adcac1f207
10 changed files with 13 additions and 12 deletions
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2
cereal

@ -1 +1 @@
Subproject commit e2811732e6d4865a1e7430810a318a161afc5b4f
Subproject commit 9b573c2be34b638ff462648308d3c7075d0ff174

4
selfdrive/controls/controlsd.py
View File

@ -80,7 +80,8 @@ class Controls:
'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
'testJoystick'] + self.camera_packets + self.sensor_packets,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
frequency=int(1/DT_CTRL))
if CI is None:
# wait for one pandaState and one CAN packet
@ -452,6 +453,7 @@ class Controls:
invalid=[s for s, valid in self.sm.valid.items() if not valid],
not_alive=[s for s, alive in self.sm.alive.items() if not alive],
not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
error=True,
)
# Check for CAN timeout

3
selfdrive/controls/plannerd.py
View File

@ -29,11 +29,10 @@ def plannerd_thread():
longitudinal_planner = LongitudinalPlanner(CP)
pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
poll='modelV2', ignore_avg_freq=['radarState'])
while True:
sm.update()
if sm.updated['modelV2']:
longitudinal_planner.update(sm)
longitudinal_planner.publish(sm, pm)

2
selfdrive/locationd/calibrationd.py
View File

@ -260,7 +260,7 @@ def main() -> NoReturn:
set_realtime_priority(1)
pm = messaging.PubMaster(['liveCalibration'])
sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
calibrator = Calibrator(param_put=True)

2
selfdrive/locationd/paramsd.py
View File

@ -124,7 +124,7 @@ def main():
REPLAY = bool(int(os.getenv("REPLAY", "0")))
pm = messaging.PubMaster(['liveParameters'])
sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman')
params_reader = Params()
# wait for stats about the car to come in from controls

2
selfdrive/locationd/torqued.py
View File

@ -218,7 +218,7 @@ def main(demo=False):
config_realtime_process([0, 1, 2, 3], 5)
pm = messaging.PubMaster(['liveTorqueParameters'])
sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
params = Params()
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:

4
selfdrive/manager/manager.py
View File

@ -127,7 +127,7 @@ def manager_thread() -> None:
ignore.append("pandad")
ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
pm = messaging.PubMaster(['managerState'])
write_onroad_params(False, params)
@ -136,7 +136,7 @@ def manager_thread() -> None:
started_prev = False
while True:
sm.update()
sm.update(1000)
started = sm['deviceState'].started

2
selfdrive/monitoring/dmonitoringd.py
View File

@ -15,7 +15,7 @@ def dmonitoringd_thread():
params = Params()
pm = messaging.PubMaster(['driverMonitoringState'])
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"))

2
selfdrive/thermald/thermald.py
View File

@ -166,7 +166,7 @@ def hw_state_thread(end_event, hw_queue):
def thermald_thread(end_event, hw_queue) -> None:
pm = messaging.PubMaster(['deviceState'])
sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll=["pandaStates"])
sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
count = 0

2
system/webrtc/tests/test_webrtcd.py
View File

@ -24,7 +24,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
async def test_webrtcd(self):
mock_request = MagicMock()
async def connect(offer):
body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': []}
body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': ['carState']}
mock_request.json.side_effect = AsyncMock(return_value=body)
response = await get_stream(mock_request)
response_json = json.loads(response.text)