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SubMaster cleanup

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This commit is contained in:
Adeeb Shihadeh
2024-02-08 21:37:36 -08:00
parent f3ceee7987
commit bcdf5dfa0b
2 changed files with 16 additions and 18 deletions
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26
messaging/__init__.py
View File

@@ -117,14 +117,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
while 1:
if wait and dat is None:
rcv = sock.receive()
recv = sock.receive()
else:
rcv = sock.receive(non_blocking=True)
recv = sock.receive(non_blocking=True)
if rcv is None: # Timeout hit
if recv is None: # Timeout hit
break
dat = rcv
dat = recv
if dat is not None:
dat = log_from_bytes(dat)
@@ -160,8 +160,8 @@ class SubMaster:
ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1"):
self.frame = -1
self.updated = {s: False for s in services}
self.rcv_time = {s: 0. for s in services}
self.rcv_frame = {s: 0 for s in services}
self.recv_time = {s: 0. for s in services}
self.recv_frame = {s: 0 for s in services}
self.alive = {s: False for s in services}
self.freq_ok = {s: False for s in services}
self.recv_dts: Dict[str, Deque[float]] = {s: deque(maxlen=AVG_FREQ_HISTORY) for s in services}
@@ -200,7 +200,7 @@ class SubMaster:
return self.data[s]
def _check_avg_freq(self, s):
return self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
return self.recv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
and (s not in self.ignore_average_freq)
def update(self, timeout: int = 1000) -> None:
@@ -223,11 +223,9 @@ class SubMaster:
s = msg.which()
self.updated[s] = True
if self._check_avg_freq(s):
self.recv_dts[s].append(cur_time - self.rcv_time[s])
self.rcv_time[s] = cur_time
self.rcv_frame[s] = self.frame
self.recv_dts[s].append(cur_time - self.recv_time[s])
self.recv_time[s] = cur_time
self.recv_frame[s] = self.frame
self.data[s] = getattr(msg, s)
self.logMonoTime[s] = msg.logMonoTime
self.valid[s] = msg.valid
@@ -241,7 +239,7 @@ class SubMaster:
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
if self.freq[s] > 1e-5:
# alive if delay is within 10x the expected frequency
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / self.freq[s])
# TODO: check if update frequency is high enough to not drop messages
# freq_ok if average frequency is higher than 90% of expected frequency
@@ -266,7 +264,7 @@ class SubMaster:
def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
if service_list is None: # check all
service_list = list(self.alive.keys())
return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive)
return all(self.freq_ok[s] for s in service_list if s not in self.ignore_average_freq)
def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
if service_list is None: # check all

8
messaging/tests/test_pub_sub_master.py
View File

@@ -19,7 +19,7 @@ class TestSubMaster(unittest.TestCase):
def test_init(self):
sm = messaging.SubMaster(events)
for p in [sm.updated, sm.rcv_time, sm.rcv_frame, sm.alive,
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
sm.sock, sm.freq, sm.data, sm.logMonoTime, sm.valid]:
self.assertEqual(len(cast(Sized, p)), len(events))
@@ -29,11 +29,11 @@ class TestSubMaster(unittest.TestCase):
self.assertEqual(sm.frame, -1)
self.assertFalse(any(sm.updated.values()))
self.assertFalse(any(sm.alive.values()))
self.assertTrue(all(t == 0. for t in sm.rcv_time.values()))
self.assertTrue(all(f == 0 for f in sm.rcv_frame.values()))
self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
for p in [sm.updated, sm.rcv_time, sm.rcv_frame, sm.alive,
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
sm.sock, sm.freq, sm.data, sm.logMonoTime, sm.valid]:
self.assertEqual(len(cast(Sized, p)), len(socks))