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thermald: publish immediately after ignition (#31981)

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* thermald: publish immediately after ignition

* fix
This commit is contained in:
Adeeb Shihadeh
2024-03-22 15:57:36 -07:00
committed by GitHub
parent 6e60fed737
commit c0a96d2747
1 changed files with 8 additions and 7 deletions
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selfdrive/thermald/thermald.py
+8 -7
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@@ -207,17 +207,10 @@ def thermald_thread(end_event, hw_queue) -> None:
while not end_event.is_set():
sm.update(PANDA_STATES_TIMEOUT)
# Run at 2Hz
if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0:
continue
pandaStates = sm['pandaStates']
peripheralState = sm['peripheralState']
peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
msg = read_thermal(thermal_config)
msg.deviceState.deviceType = HARDWARE.get_device_type()
if sm.updated['pandaStates'] and len(pandaStates) > 0:
# Set ignition based on any panda connected
@@ -237,6 +230,14 @@ def thermald_thread(end_event, hw_queue) -> None:
onroad_conditions["ignition"] = False
cloudlog.error("panda timed out onroad")
# Run at 2Hz, plus rising edge of ignition
ign_edge = started_ts is None and onroad_conditions["ignition"]
if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0) and not ign_edge:
continue
msg = read_thermal(thermal_config)
msg.deviceState.deviceType = HARDWARE.get_device_type()
try:
last_hw_state = hw_queue.get_nowait()
except queue.Empty: