Ford: match channel test health checks to 20 Hz polling

The default 100 Hz subscriber configuration marked conflated vehicle messages unhealthy at the diagnostic polling rate, preventing every trial from starting. Configure the actual 20 Hz rate and exercise real SubMaster health checks in the full-suite regression instead of mocking them healthy.

openpilot/selfdrive/controls/tests/test_ford_channel_test.py

@@ -231,21 +231,27 @@ def test_daemon_publishes_both_speeds_and_real_schema(monkeypatch):
   plans, alerts = [], []
   clock = [10.]
 
-  class SM(dict):
-    def __init__(self, services):
-      super().__init__((s, getattr(messaging.new_message(s), s)) for s in services)
+  subscribers = []
+
+  class SM(messaging.SubMaster):
+    def __init__(self, services, **kwargs):
+      super().__init__(services, **kwargs)
+      self.events = {s: messaging.new_message(s) for s in services}
+      subscribers.append(self)
 
     def update(self, _timeout):
-      cs = self['carState']
+      cs = self.events['carState'].carState
       cs.vEgo = plans[-1].lateralManeuverPlan.fordChannelTest.speed if plans else SPEEDS[0]
       cs.canValid, cs.cruiseState.enabled = True, True
-      self['selfdriveState'].enabled = clock[0] > 10.
-      self['carControl'].latActive = clock[0] > 10.
-      self['carControlSP'].fordLateralPath = {'enabled': True, 'valid': True}
-      self['carStateSP'].fordPscmStatus = {'valid': True, 'canMonoTime': round(clock[0]*1e9), 'lateralState': 2}
-
-    def all_checks(self, _services):
-      return True
+      self.events['selfdriveState'].selfdriveState.enabled = clock[0] > 10.
+      self.events['carControl'].carControl.latActive = clock[0] > 10.
+      self.events['carControlSP'].carControlSP.fordLateralPath = {'enabled': True, 'valid': True}
+      self.events['carStateSP'].carStateSP.fordPscmStatus = {'valid': True, 'canMonoTime': round(clock[0]*1e9), 'lateralState': 2}
+      for msg in self.events.values():
+        msg.valid, msg.logMonoTime = True, round(clock[0]*1e9)
+      # SubMaster conflates 100 Hz services to the daemon's 20 Hz polling rate.
+      # Keep its real frequency/alive/valid checks instead of assuming health.
+      self.update_msgs(clock[0], [m.as_reader() for m in self.events.values()])
 
   class PM:
     def __init__(self, _services):
@@ -263,7 +269,7 @@ def test_daemon_publishes_both_speeds_and_real_schema(monkeypatch):
 
     def keep_time(self):
       clock[0] += .05
-      assert clock[0] < 75.
+      assert clock[0] < 75., f'Test never completed; frequency checks: {subscribers[0].freq_ok}'
 
   monkeypatch.setattr(daemon.messaging, 'SubMaster', SM)
   monkeypatch.setattr(daemon.messaging, 'PubMaster', PM)

openpilot/tools/lateral_maneuvers/ford_maneuversd.py

@@ -102,7 +102,7 @@ class Sequence:
 def main():
   services = ['carState', 'carStateSP', 'carControl', 'carControlSP', 'controlsState', 'selfdriveState',
               'selfdriveStateSP', 'modelV2', 'vehicleParameters']
-  sm = messaging.SubMaster(services)
+  sm = messaging.SubMaster(services, frequency=20)
   pm = messaging.PubMaster(['lateralManeuverPlan', 'alertDebug'])
   sequence = Sequence()
   rk = Ratekeeper(20)