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SubMaster: add self.services attribute for consistent service management (#33268)

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simplify service handing
old-commit-hash: b644555a1d9ef16115df99c442d173f3f8119a33
This commit is contained in:
Dean Lee
2024-08-20 07:56:57 +08:00
committed by GitHub
parent 2119f7774e
commit a0f8148ae6
1 changed files with 6 additions and 11 deletions
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17
cereal/messaging/__init__.py
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@@ -136,6 +136,7 @@ class SubMaster:
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
self.frame = -1
self.services = services
self.seen = {s: False for s in services}
self.updated = {s: False for s in services}
self.recv_time = {s: 0. for s in services}
@@ -194,7 +195,7 @@ class SubMaster:
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
self.frame += 1
self.updated = dict.fromkeys(self.updated, False)
self.updated = dict.fromkeys(self.services, False)
for msg in msgs:
if msg is None:
continue
@@ -210,7 +211,7 @@ class SubMaster:
self.logMonoTime[s] = msg.logMonoTime
self.valid[s] = msg.valid
for s in self.data:
for s in self.services:
if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
# alive if delay is within 10x the expected frequency
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
@@ -220,19 +221,13 @@ class SubMaster:
self.alive[s] = self.seen[s] if self.simulation else True
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
if service_list is None:
service_list = list(self.sock.keys())
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
if service_list is None:
service_list = list(self.sock.keys())
return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
if service_list is None:
service_list = list(self.sock.keys())
return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)