From 6e7fde5d6125ab3e7d8bebae64f038b448903307 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 28 Jul 2020 18:41:39 -0700 Subject: [PATCH] Revert "can't directly access sockets anymore", was supposed to be on branch This reverts commit 1046c572b4e49608137f687263d443eab6c430f8. old-commit-hash: acb25751b75059a6e212192064528afe0ebd5e03 --- cereal | 2 +- selfdrive/controls/controlsd.py | 4 +--- selfdrive/test/process_replay/camera_replay.py | 4 ++-- 3 files changed, 4 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index 32300930f..29099e87a 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 32300930f65425bbba136461446149af8f8b42d9 +Subproject commit 29099e87a1372694fb81b426faaa57e832bbe87a diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index fa9def223..4c11c5e05 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -61,9 +61,7 @@ class Controls: self.can_sock = messaging.sub_sock('can', timeout=can_timeout) # wait for one health and one CAN packet - while not sm.updated['health']: - sm.update() - hw_type = sm['health'].hwType + hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos] print("Waiting for CAN messages...") messaging.get_one_can(self.can_sock) diff --git a/selfdrive/test/process_replay/camera_replay.py b/selfdrive/test/process_replay/camera_replay.py index f2cc4a546..501f8f611 100755 --- a/selfdrive/test/process_replay/camera_replay.py +++ b/selfdrive/test/process_replay/camera_replay.py @@ -27,7 +27,7 @@ def camera_replay(lr, fr): spinner = Spinner() pm = messaging.PubMaster(['frame', 'liveCalibration']) - model_sock = messaging.sub_sock("model", conflate=False) + sm = messaging.SubMaster(['model']) # TODO: add dmonitoringmodeld print("preparing procs") @@ -56,7 +56,7 @@ def camera_replay(lr, fr): frame_idx += 1 pm.send(msg.which(), f) - log_msgs.append(messaging.recv_one(model_sock)) + log_msgs.append(messaging.recv_one(sm.sock['model'])) spinner.update("modeld replay %d/%d" % (frame_idx, fr.frame_count))