dragonpilot beta3

date: 2023-10-09T10:55:55
commit: 91b6e3aecd7170f24bccacb10c515ec281c30295

cereal/messaging/__init__.py

@@ -11,7 +11,7 @@ from typing import Optional, List, Union, Dict, Deque
 from collections import deque
 
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 assert MultiplePublishersError
 assert MessagingError
@@ -24,13 +24,6 @@ assert wait_for_one_event
 NO_TRAVERSAL_LIMIT = 2**64-1
 AVG_FREQ_HISTORY = 100
 
-# sec_since_boot is faster, but allow to run standalone too
-try:
-  from common.realtime import sec_since_boot
-except ImportError:
-  sec_since_boot = time.time
-  print("Warning, using python time.time() instead of faster sec_since_boot")
-
 context = Context()
 
 
@@ -50,7 +43,7 @@ def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
 
 def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
   dat = log.Event.new_message()
-  dat.logMonoTime = int(sec_since_boot() * 1e9)
+  dat.logMonoTime = int(time.monotonic() * 1e9)
   dat.valid = True
   if service is not None:
     if size is None:
@@ -187,7 +180,7 @@ class SubMaster:
       if addr is not None:
         p = self.poller if s not in self.non_polled_services else None
         self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
-      self.freq[s] = service_list[s].frequency
+      self.freq[s] = SERVICE_LIST[s].frequency
 
       try:
         data = new_message(s)
@@ -213,7 +206,7 @@ class SubMaster:
     # non-blocking receive for non-polled sockets
     for s in self.non_polled_services:
       msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(sec_since_boot(), msgs)
+    self.update_msgs(time.monotonic(), msgs)
 
   def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
@@ -294,8 +287,7 @@ class PubMaster:
       dat = dat.to_bytes()
     self.sock[s].send(dat)
 
-  def wait_for_readers_to_update(self, s: str, timeout: int) -> bool:
-    dt = 0.05
+  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
     for _ in range(int(timeout*(1./dt))):
       if self.sock[s].all_readers_updated():
         return True

cereal/messaging/impl_fake.h

@@ -63,5 +63,5 @@ private:
 public:
   void registerSocket(SubSocket *socket) override;
   std::vector<SubSocket*> poll(int timeout) override;
-  ~FakePoller() {};
+  ~FakePoller() {}
 };

cereal/messaging/impl_msgq.h

@@ -63,5 +63,5 @@ private:
 public:
   void registerSocket(SubSocket *socket);
   std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){};
+  ~MSGQPoller(){}
 };

cereal/messaging/impl_zmq.h

@@ -63,5 +63,5 @@ private:
 public:
   void registerSocket(SubSocket *socket);
   std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){};
+  ~ZMQPoller(){}
 };

cereal/messaging/messaging.h

@@ -33,7 +33,7 @@ public:
   virtual void close() = 0;
   virtual size_t getSize() = 0;
   virtual char * getData() = 0;
-  virtual ~Message(){};
+  virtual ~Message(){}
 };
 
 
@@ -45,7 +45,7 @@ public:
   virtual void * getRawSocket() = 0;
   static SubSocket * create();
   static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
-  virtual ~SubSocket(){};
+  virtual ~SubSocket(){}
 };
 
 class PubSocket {
@@ -57,7 +57,7 @@ public:
   static PubSocket * create();
   static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
   static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
-  virtual ~PubSocket(){};
+  virtual ~PubSocket(){}
 };
 
 class Poller {
@@ -66,7 +66,7 @@ public:
   virtual std::vector<SubSocket*> poll(int timeout) = 0;
   static Poller * create();
   static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){};
+  virtual ~Poller(){}
 };
 
 class SubMaster {

cereal/messaging/messaging_pyx.cpp

@@ -10,7 +10,7 @@
         "language": "c++",
         "name": "cereal.messaging.messaging_pyx",
         "sources": [
-            "/data/openpilot/cereal/messaging/messaging_pyx.pyx"
+            "/data/dp-private/cereal/messaging/messaging_pyx.pyx"
         ]
     },
     "module_name": "cereal.messaging.messaging_pyx"