new msgs default to invalid (#30587)

* new msgs default to invalid

* fix lm

* set more valid

* update rest

* update refs

* fix logMessage

* more valids

* cleanup

* fix llk test

* pigeond is also valid

* more valids

selfdrive/controls/controlsd.py

@@ -80,7 +80,7 @@ class Controls:
                                    'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
+                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -824,6 +824,7 @@ class Controls:
     # onroadEvents - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
       ce_send = messaging.new_message('onroadEvents', len(self.events))
+      ce_send.valid = True
       ce_send.onroadEvents = car_events
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
@@ -831,6 +832,7 @@ class Controls:
     # carParams - logged every 50 seconds (> 1 per segment)
     if (self.sm.frame % int(50. / DT_CTRL) == 0):
       cp_send = messaging.new_message('carParams')
+      cp_send.valid = True
       cp_send.carParams = self.CP
       self.pm.send('carParams', cp_send)
 

selfdrive/controls/radard.py

@@ -270,6 +270,7 @@ class RadarD:
 
     # publish tracks for UI debugging (keep last)
     tracks_msg = messaging.new_message('liveTracks', len(self.tracks))
+    tracks_msg.valid = self.radar_state_valid
     for index, tid in enumerate(sorted(self.tracks.keys())):
       tracks_msg.liveTracks[index] = {
         "trackId": tid,

selfdrive/locationd/calibrationd.py

@@ -164,7 +164,7 @@ class Calibrator:
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      put_nonblocking("CalibrationParams", self.get_msg().to_bytes())
+      put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego
@@ -227,12 +227,13 @@ class Calibrator:
 
     return new_rpy
 
-  def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder:
+  def get_msg(self, valid: bool) -> capnp.lib.capnp._DynamicStructBuilder:
     smooth_rpy = self.get_smooth_rpy()
 
     msg = messaging.new_message('liveCalibration')
-    liveCalibration = msg.liveCalibration
+    msg.valid = valid
 
+    liveCalibration = msg.liveCalibration
     liveCalibration.validBlocks = self.valid_blocks
     liveCalibration.calStatus = self.cal_status
     liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
@@ -250,19 +251,16 @@ class Calibrator:
 
     return msg
 
-  def send_data(self, pm: messaging.PubMaster) -> None:
-    pm.send('liveCalibration', self.get_msg())
+  def send_data(self, pm: messaging.PubMaster, valid: bool) -> None:
+    pm.send('liveCalibration', self.get_msg(valid))
 
 
-def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn:
+def main() -> NoReturn:
   gc.disable()
   set_realtime_priority(1)
 
-  if sm is None:
-    sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
-
-  if pm is None:
-    pm = messaging.PubMaster(['liveCalibration'])
+  pm = messaging.PubMaster(['liveCalibration'])
+  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
 
   calibrator = Calibrator(param_put=True)
 
@@ -286,11 +284,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
 
     # 4Hz driven by cameraOdometry
     if sm.frame % 5 == 0:
-      calibrator.send_data(pm)
-
-
-def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn:
-  calibrationd_thread(sm, pm)
+      calibrator.send_data(pm, sm.all_checks())
 
 
 if __name__ == "__main__":

selfdrive/locationd/test/test_locationd.py

@@ -60,6 +60,7 @@ class TestLocationdProc(unittest.TestCase):
       msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
       msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
     msg.logMonoTime = t
+    msg.valid = True
     return msg
 
   def test_params_gps(self):

selfdrive/manager/manager.py

@@ -171,7 +171,7 @@ def manager_thread() -> None:
     cloudlog.debug(running)
 
     # send managerState
-    msg = messaging.new_message('managerState')
+    msg = messaging.new_message('managerState', valid=True)
     msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
     pm.send('managerState', msg)
 

selfdrive/modeld/dmonitoringmodeld.py

@@ -101,7 +101,7 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
 
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
   model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
-  msg = messaging.new_message('driverStateV2')
+  msg = messaging.new_message('driverStateV2', valid=True)
   ds = msg.driverStateV2
   ds.frameId = frame_id
   ds.modelExecutionTime = execution_time

selfdrive/monitoring/dmonitoringd.py

@@ -54,7 +54,7 @@ def dmonitoringd_thread():
     driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
 
     # build driverMonitoringState packet
-    dat = messaging.new_message('driverMonitoringState')
+    dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
     dat.driverMonitoringState = {
       "events": events.to_msg(),
       "faceDetected": driver_status.face_detected,

selfdrive/navd/navd.py

@@ -196,7 +196,7 @@ class RouteEngine:
     self.send_route()
 
   def send_instruction(self):
-    msg = messaging.new_message('navInstruction')
+    msg = messaging.new_message('navInstruction', valid=True)
 
     if self.step_idx is None:
       msg.valid = False
@@ -302,7 +302,7 @@ class RouteEngine:
       for path in self.route_geometry:
         coords += [c.as_dict() for c in path]
 
-    msg = messaging.new_message('navRoute')
+    msg = messaging.new_message('navRoute', valid=True)
     msg.navRoute.coordinates = coords
     self.pm.send('navRoute', msg)
 

selfdrive/test/process_replay/migration.py

@@ -85,6 +85,7 @@ def migrate_peripheralState(lr):
       continue
 
     new_msg = messaging.new_message("peripheralState")
+    new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     all_msg.append(new_msg.as_reader())
 
@@ -149,6 +150,7 @@ def migrate_carParams(lr, old_logtime=False):
   for msg in lr:
     if msg.which() == 'carParams':
       CP = messaging.new_message('carParams')
+      CP.valid = True
       CP.carParams = msg.carParams.as_builder()
       for car_fw in CP.carParams.carFw:
         car_fw.brand = CP.carParams.carName

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a42195085f2b92df02d13d60a8cee80354a84c7a
+921222d49db204071f0a7006fc895690e1045b5d

selfdrive/thermald/thermald.py

@@ -81,7 +81,7 @@ def read_tz(x):
 
 
 def read_thermal(thermal_config):
-  dat = messaging.new_message('deviceState')
+  dat = messaging.new_message('deviceState', valid=True)
   dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
   dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
   dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]

system/loggerd/uploader.py

@@ -228,7 +228,7 @@ class Uploader:
     return success
 
   def get_msg(self):
-    msg = messaging.new_message("uploaderState")
+    msg = messaging.new_message("uploaderState", valid=True)
     us = msg.uploaderState
     us.immediateQueueSize = int(self.immediate_size / 1e6)
     us.immediateQueueCount = self.immediate_count

system/logmessaged.py

@@ -35,13 +35,11 @@ def main() -> NoReturn:
         continue
 
       # then we publish them
-      msg = messaging.new_message()
-      msg.logMessage = record
+      msg = messaging.new_message(None, valid=True, logMessage=record)
       log_message_sock.send(msg.to_bytes())
 
       if level >= 40:  # logging.ERROR
-        msg = messaging.new_message()
-        msg.errorLogMessage = record
+        msg = messaging.new_message(None, valid=True, errorLogMessage=record)
         error_log_message_sock.send(msg.to_bytes())
   finally:
     sock.close()

system/micd.py

@@ -53,7 +53,7 @@ class Mic:
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
   def update(self):
-    msg = messaging.new_message('microphone')
+    msg = messaging.new_message('microphone', valid=True)
     msg.microphone.soundPressure = float(self.sound_pressure)
     msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted)
 

system/qcomgpsd/qcomgpsd.py

@@ -321,7 +321,7 @@ def main() -> NoReturn:
       print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
 
     if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
-      msg = messaging.new_message('qcomGnss')
+      msg = messaging.new_message('qcomGnss', valid=True)
 
       gnss = msg.qcomGnss
       gnss.logTs = log_time
@@ -370,7 +370,7 @@ def main() -> NoReturn:
       vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
       vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
 
-      msg = messaging.new_message('gpsLocation')
+      msg = messaging.new_message('gpsLocation', valid=True)
       gps = msg.gpsLocation
       gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
       gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
@@ -396,7 +396,7 @@ def main() -> NoReturn:
       pm.send('gpsLocation', msg)
 
     elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
-      msg = messaging.new_message('qcomGnss')
+      msg = messaging.new_message('qcomGnss', valid=True)
       dat = unpack_svpoly(log_payload)
       dat = relist(dat)
       gnss = msg.qcomGnss
@@ -433,7 +433,7 @@ def main() -> NoReturn:
       pm.send('qcomGnss', msg)
 
     elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
-      msg = messaging.new_message('qcomGnss')
+      msg = messaging.new_message('qcomGnss', valid=True)
 
       gnss = msg.qcomGnss
       gnss.logTs = log_time

system/sensord/pigeond.py

@@ -291,7 +291,7 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0)
         continue
 
       # send out to socket
-      msg = messaging.new_message('ubloxRaw', len(dat))
+      msg = messaging.new_message('ubloxRaw', len(dat), valid=True)
       msg.ubloxRaw = dat[:]
       pm.send('ubloxRaw', msg)
     else: