Merge branch 'devel-en' into devel-zht

selfdrive/dragonpilot/appd/appd.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python2.7
 
 import time
-import zmq
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
 import subprocess
@@ -45,10 +44,7 @@ def main(gctx=None):
   # we want to disable all app when boot
   system("pm disable %s ; pm disable %s ; pm disable %s" % (tomtom, autonavi, mixplorer))
 
-  poller = zmq.Poller()
-  sock = messaging.sub_sock(service_list['thermal'].port, poller)
-  poller.poll(timeout=1000)
-
+  thermal_sock = messaging.sub_sock(service_list['thermal'].port)
 
   while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_mixplorer:
 
@@ -77,7 +73,7 @@ def main(gctx=None):
     auto_tomtom = not manual_tomtom and dragon_enable_tomtom and dragon_boot_tomtom
     auto_autonavi = not manual_autonavi and dragon_enable_autonavi and dragon_boot_autonavi
 
-    msg = messaging.recv_sock(sock, wait=True)
+    msg = messaging.recv_sock(thermal_sock, wait=True)
     started = msg.thermal.started
     # car on
     if started:

selfdrive/dragonpilot/dashcamd/dashcamd.py

@@ -10,7 +10,6 @@
 import os
 import time
 import datetime
-import zmq
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
 import subprocess
@@ -29,9 +28,7 @@ def main(gctx=None):
   if not os.path.exists(dashcam_videos):
     os.makedirs(dashcam_videos)
 
-  poller = zmq.Poller()
-  sock = messaging.sub_sock(service_list['thermal'].port, poller)
-  poller.poll(timeout=1000)
+  thermal_sock = messaging.sub_sock(service_list['thermal'].port)
   while 1:
     if params.get("DragonEnableDashcam") == "1":
       now = datetime.datetime.now()
@@ -47,12 +44,12 @@ def main(gctx=None):
 
       # get health of board, log this in "thermal"
       start_time = time.time()
-      msg = messaging.recv_sock(sock, wait=True)
+      msg = messaging.recv_sock(thermal_sock, wait=True)
       if used_spaces >= max_storage or (msg is not None and 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(sock, wait=True)
+          msg = messaging.recv_sock(thermal_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:
             system("rm -fr %s" % (dashcam_videos + file))