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messaging: cleanup zero-frequency service initialization (#35145)

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* messaging: fix bug with relaxed checks under simulation

* refactor

* cleanup

* fix bug

* Revert "fix bug"

This reverts commit ea31f3ee83676c5b8ffe57500881557f7586998c.

* that did need to be different

* fix bug, add test coverage

* retry CI
This commit is contained in:
Jason Young
2025-05-09 15:13:52 -04:00
committed by GitHub
parent 908ea36126
commit 1f312e16d4
2 changed files with 17 additions and 15 deletions
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cereal/messaging/__init__.py
+12 -14
View File
@@ -145,12 +145,16 @@ class SubMaster:
self.updated = {s: False for s in services}
self.recv_time = {s: 0. for s in services}
self.recv_frame = {s: 0 for s in services}
self.alive = {s: False for s in services}
self.freq_ok = {s: False for s in services}
self.sock = {}
self.data = {}
self.valid = {}
self.logMonoTime = {}
self.logMonoTime = {s: 0 for s in services}
# zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
self.static_freq_services = set(s for s in services if not on_demand[s])
self.alive = {s: on_demand[s] for s in services}
self.freq_ok = {s: on_demand[s] for s in services}
self.valid = {s: on_demand[s] for s in services}
self.freq_tracker: Dict[str, FrequencyTracker] = {}
self.poller = Poller()
@@ -177,8 +181,6 @@ class SubMaster:
data = new_message(s, 0) # lists
self.data[s] = getattr(data.as_reader(), s)
self.logMonoTime[s] = 0
self.valid[s] = False
self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
@@ -215,14 +217,10 @@ class SubMaster:
self.logMonoTime[s] = msg.logMonoTime
self.valid[s] = msg.valid
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)
self.freq_ok[s] = self.freq_tracker[s].valid
else:
self.freq_ok[s] = True
self.alive[s] = self.seen[s] if self.simulation else True
for s in self.static_freq_services:
# alive if delay is within 10x the expected frequency; checks relaxed in simulator
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
cereal/messaging/tests/test_pub_sub_master.py
+5 -1
View File
@@ -6,6 +6,7 @@ import cereal.messaging as messaging
from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
random_bytes, random_carstate, assert_carstate, \
zmq_sleep
from cereal.services import SERVICE_LIST
class TestSubMaster:
@@ -26,7 +27,9 @@ class TestSubMaster:
sm = messaging.SubMaster(socks)
assert sm.frame == -1
assert not any(sm.updated.values())
assert not any(sm.alive.values())
assert not any(sm.seen.values())
on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
assert all(t == 0. for t in sm.recv_time.values())
assert all(f == 0 for f in sm.recv_frame.values())
assert all(t == 0 for t in sm.logMonoTime.values())
@@ -83,6 +86,7 @@ class TestSubMaster:
"cameraOdometry": (20, 10),
"liveCalibration": (4, 4),
"carParams": (None, None),
"userFlag": (None, None),
}
for service, (max_freq, min_freq) in checks.items():