修正 dashcamd 和 safeguardd 無法啟動的錯誤

selfdrive/dragonpilot/dashcamd/dashcamd.py

@@ -27,13 +27,12 @@ def main(gctx=None):
   if not os.path.exists(dashcam_videos):
     os.makedirs(dashcam_videos)
 
-  context = zmq.Context()
-  thermal_sock = messaging.sub_sock(context, service_list['thermal'].port)
+  poller = zmq.Poller()
+  sock = messaging.sub_sock(service_list['thermal'].port, poller)
+  poller.poll(timeout=0)
 
   while 1:
     if params.get("d_enableDashcam") == "1":
-      # get health of board, log this in "thermal"
-      msg = messaging.recv_sock(thermal_sock, wait=True)
 
       now = datetime.datetime.now()
       file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
@@ -45,13 +44,13 @@ def main(gctx=None):
       # we should clean up files here if use too much spaces
       # when used spaces greater than max available storage
       # or when free space is less than 10%
-      print(used_spaces)
-      print(max_storage)
+      # get health of board, log this in "thermal"
+      msg = messaging.recv_sock(sock, wait=True)
       if used_spaces >= max_storage or msg.thermal.freeSpace < freespace_limit:
         # get all the files in the dashcam_videos path
         files = [f for f in sorted(os.listdir(dashcam_videos)) if os.path.isfile(dashcam_videos + f)]
         for file in files:
-          msg = messaging.recv_sock(thermal_sock, wait=True)
+          msg = messaging.recv_sock(sock, wait=True)
           # delete file one by one and once it has enough space for 1 video, we stop deleting
           if used_spaces - last_used_spaces < max_size_per_file or msg.thermal.freeSpace < freespace_limit:
             os.system("rm -fr %s" % (dashcam_videos + file))

selfdrive/dragonpilot/safeguardd/safeguardd.py

@@ -15,9 +15,9 @@ mediaplayer = '/data/openpilot/selfdrive/dragonpilot/mediaplayer/'
 
 def main(gctx=None):
 
-  context = zmq.Context()
   poller = zmq.Poller()
-  controls_state_sock = messaging.sub_sock(context, service_list['controlsState'].port, conflate=True, poller=poller)
+  sock = messaging.sub_sock(service_list['controlsState'].port, poller)
+  poller.poll(timeout=0)
 
   last_v_ego = 0.
   last_active = False
@@ -31,9 +31,7 @@ def main(gctx=None):
     v_ego = 0
     active = False
 
-    for socket, event in poller.poll(100):
-      if socket is controls_state_sock:
-        controls_state = messaging.recv_one(socket)
+    controls_state = messaging.recv_sock(sock, wait=True)
 
     if controls_state is not None:
       v_ego = controls_state.controlsState.vEgo