Merge remote-tracking branch 'upstream/master' into issue_29131

.pre-commit-config.yaml

@@ -11,7 +11,7 @@ repos:
     hooks:
     -   id: mypy
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.288
+    rev: v0.0.292
     hooks:
     -   id: ruff
 -   repo: local
@@ -39,7 +39,7 @@ repos:
         - --linelength=240
         - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.2.6
     hooks:
     -   id: codespell
         args:

log.capnp

@@ -2268,6 +2268,10 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
+    customReservedRawData0 @124 :Data;
+    customReservedRawData1 @125 :Data;
+    customReservedRawData2 @126 :Data;
+
     # *********** Custom: reserved for forks ***********
     customReserved0 @107 :Custom.CustomReserved0;
     customReserved1 @108 :Custom.CustomReserved1;

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
@@ -180,7 +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)

messaging/impl_zmq.cc

@@ -3,6 +3,7 @@
 #include <iostream>
 #include <cstdlib>
 #include <cerrno>
+#include <unistd.h>
 
 #include "cereal/services.h"
 #include "cereal/messaging/impl_zmq.h"
@@ -108,14 +109,19 @@ int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_end
     full_endpoint += endpoint;
   }
 
+  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same
+  pid = getpid();
+
   return zmq_bind(sock, full_endpoint.c_str());
 }
 
-int ZMQPubSocket::sendMessage(Message *message){
+int ZMQPubSocket::sendMessage(Message *message) {
+  assert(pid == getpid());
   return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
 }
 
-int ZMQPubSocket::send(char *data, size_t size){
+int ZMQPubSocket::send(char *data, size_t size) {
+  assert(pid == getpid());
   return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }
 

messaging/impl_zmq.h

@@ -46,6 +46,7 @@ class ZMQPubSocket : public PubSocket {
 private:
   void * sock;
   std::string full_endpoint;
+  int pid = -1;
 public:
   int connect(Context *context, std::string endpoint, bool check_endpoint=true);
   int sendMessage(Message *message);

messaging/tests/test_messaging.py

@@ -11,9 +11,9 @@ from parameterized import parameterized
 
 from cereal import log, car
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
-events = [evt for evt in log.Event.schema.union_fields if evt in service_list.keys()]
+events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
 
 def random_sock():
   return random.choice(events)

messaging/tests/test_services.py

@@ -6,21 +6,21 @@ import unittest
 from parameterized import parameterized
 
 import cereal.services as services
-from cereal.services import service_list, RESERVED_PORT, STARTING_PORT
+from cereal.services import SERVICE_LIST, RESERVED_PORT, STARTING_PORT
 
 
 class TestServices(unittest.TestCase):
 
-  @parameterized.expand(service_list.keys())
+  @parameterized.expand(SERVICE_LIST.keys())
   def test_services(self, s):
-    service = service_list[s]
+    service = SERVICE_LIST[s]
     self.assertTrue(service.port != RESERVED_PORT)
     self.assertTrue(service.port >= STARTING_PORT)
     self.assertTrue(service.frequency <= 104)
 
   def test_no_duplicate_port(self):
     ports: Dict[int, str] = {}
-    for name, service in service_list.items():
+    for name, service in SERVICE_LIST.items():
       self.assertFalse(service.port in ports.keys(), f"duplicate port {service.port}")
       ports[service.port] = name
 

services.py

@@ -18,7 +18,7 @@ class Service:
     self.decimation = decimation
 
 
-services = {
+services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
@@ -33,7 +33,7 @@ services = {
   "deviceState": (True, 2., 1),
   "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
   "controlsState": (True, 100., 10),
-  "pandaStates": (True, 2., 1),
+  "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
   "roadEncodeIdx": (False, 20., 1),
@@ -95,8 +95,11 @@ services = {
   "livestreamWideRoadEncodeData": (False, 20.),
   "livestreamRoadEncodeData": (False, 20.),
   "livestreamDriverEncodeData": (False, 20.),
+  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
 }
-service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+SERVICE_LIST = {name: Service(new_port(idx), *vals) for
                 idx, (name, vals) in enumerate(services.items())}
 
 
@@ -111,7 +114,7 @@ def build_header():
 
   h += "struct service { std::string name; int port; bool should_log; int frequency; int decimation; };\n"
   h += "static std::map<std::string, service> services = {\n"
-  for k, v in service_list.items():
+  for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
     h += '  { "%s", {"%s", %d, %s, %d, %d}},\n' % \