Upstream merge fixes

selfdrive/controls/lib/speed_limit_controller.py

@@ -4,7 +4,6 @@ from common.numpy_fast import interp
 from enum import IntEnum
 from cereal import log, car
 from common.params import Params
-from common.realtime import sec_since_boot
 from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \
   LIMIT_MAX_MAP_DATA_AGE, CONTROL_N
 from selfdrive.controls.lib.events import Events
@@ -264,12 +263,12 @@ class SpeedLimitController():
     return self._source
 
   def _update_params(self):
-    time = sec_since_boot()
-    if time > self._last_params_update + _PARAMS_UPDATE_PERIOD:
+    t = time.monotonic()
+    if t > self._last_params_update + _PARAMS_UPDATE_PERIOD:
       self._is_enabled = self._params.get_bool("SpeedLimitControl")
       self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset")
       _debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_enabled}')
-      self._last_params_update = time
+      self._last_params_update = t
 
   def _update_calculations(self):
     # Update current velocity offset (error)
@@ -280,7 +279,7 @@ class SpeedLimitController():
     # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise
     # speed.
     if not self._op_enabled_prev and self._op_enabled:
-      self._last_op_enabled_time = sec_since_boot()
+      self._last_op_enabled_time = time.monotonic()
 
     # Update change tracking variables
     self._speed_limit_changed = self._speed_limit != self._speed_limit_prev
@@ -302,7 +301,7 @@ class SpeedLimitController():
     # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations
     # due to controlsd logic changing cruise setpoint when going active.
     if self._v_cruise_setpoint_changed and \
-       sec_since_boot() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD):
+      time.monotonic() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD):
       self.state = SpeedLimitControlState.tempInactive
       return
 

selfdrive/controls/lib/turn_speed_controller.py

@@ -2,7 +2,6 @@ import numpy as np
 import time
 from common.params import Params
 from cereal import log
-from common.realtime import sec_since_boot
 from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \
   LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC
 from selfdrive.modeld.constants import T_IDXS
@@ -163,10 +162,10 @@ class TurnSpeedController():
     return speed_limit, 0., turn_sign
 
   def _update_params(self):
-    time = sec_since_boot()
-    if time > self._last_params_update + 5.0:
+    t = time.monotonic()
+    if t > self._last_params_update + 5.0:
       self._is_enabled = self._params.get_bool("TurnSpeedControl")
-      self._last_params_update = time
+      self._last_params_update = t
 
   def _update_calculations(self):
     # Update current velocity offset (error)

selfdrive/controls/lib/vision_turn_controller.py

@@ -1,9 +1,9 @@
 import numpy as np
 import math
+import time
 from cereal import log
 from common.numpy_fast import interp
 from common.params import Params
-from common.realtime import sec_since_boot
 from common.conversions import Conversions as CV
 from selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
@@ -144,10 +144,10 @@ class VisionTurnController():
     self._lat_acc_overshoot_ahead = False
 
   def _update_params(self):
-    time = sec_since_boot()
-    if time > self._last_params_update + 5.0:
+    t = time.monotonic()
+    if t > self._last_params_update + 5.0:
       self._is_enabled = self._params.get_bool("TurnVisionControl")
-      self._last_params_update = time
+      self._last_params_update = t
 
   def _update_calculations(self, sm):
     # Get path polynomial approximation for curvature estimation from model data.

selfdrive/manager/process_config.py

@@ -84,10 +84,10 @@ procs = [
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
   PythonProcess("statsd", "selfdrive.statsd", always_run),
 
-  PythonProcess("gpxd", "selfdrive.gpxd.gpxd"),
-  PythonProcess("gpxd_uploader", "selfdrive.gpxd.gpx_uploader", offroad=True),
-  PythonProcess("mapd", "selfdrive.mapd.mapd"),
-  PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", onroad=False, offroad=True),
+  PythonProcess("gpxd", "selfdrive.gpxd.gpxd", only_onroad),
+  PythonProcess("gpxd_uploader", "selfdrive.gpxd.gpx_uploader", always_run),
+  PythonProcess("mapd", "selfdrive.mapd.mapd", only_onroad),
+  PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", only_offroad),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),