SubMaster: improve service aliveness checks (#31391)

* bump cereal

* fix

* fixes

* single poll

* bump

* bump

---------

Co-authored-by: Comma Device <device@comma.ai>

cereal

@@ -1 +1 @@
-Subproject commit e2811732e6d4865a1e7430810a318a161afc5b4f
+Subproject commit 9b573c2be34b638ff462648308d3c7075d0ff174

selfdrive/controls/controlsd.py

@@ -80,7 +80,8 @@ class Controls:
                                    'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
+                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
+                                  frequency=int(1/DT_CTRL))
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -452,6 +453,7 @@ class Controls:
             invalid=[s for s, valid in self.sm.valid.items() if not valid],
             not_alive=[s for s, alive in self.sm.alive.items() if not alive],
             not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
+            error=True,
           )
 
     # Check for CAN timeout

selfdrive/controls/plannerd.py

@@ -29,11 +29,10 @@ def plannerd_thread():
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
-                           poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
+                           poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
     sm.update()
-
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)

selfdrive/locationd/calibrationd.py

@@ -260,7 +260,7 @@ def main() -> NoReturn:
   set_realtime_priority(1)
 
   pm = messaging.PubMaster(['liveCalibration'])
-  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
+  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
 
   calibrator = Calibrator(param_put=True)
 

selfdrive/locationd/paramsd.py

@@ -124,7 +124,7 @@ def main():
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
   pm = messaging.PubMaster(['liveParameters'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
+  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman')
 
   params_reader = Params()
   # wait for stats about the car to come in from controls

selfdrive/locationd/torqued.py

@@ -218,7 +218,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
 
   params = Params()
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:

selfdrive/manager/manager.py

@@ -127,7 +127,7 @@ def manager_thread() -> None:
     ignore.append("pandad")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
 
-  sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
+  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
   write_onroad_params(False, params)
@@ -136,7 +136,7 @@ def manager_thread() -> None:
   started_prev = False
 
   while True:
-    sm.update()
+    sm.update(1000)
 
     started = sm['deviceState'].started
 

selfdrive/monitoring/dmonitoringd.py

@@ -15,7 +15,7 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
 
   driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"))
 

selfdrive/thermald/thermald.py

@@ -166,7 +166,7 @@ def hw_state_thread(end_event, hw_queue):
 
 def thermald_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll=["pandaStates"])
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
 
   count = 0
 

system/webrtc/tests/test_webrtcd.py

@@ -24,7 +24,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
   async def test_webrtcd(self):
     mock_request = MagicMock()
     async def connect(offer):
-      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': []}
+      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': ['carState']}
       mock_request.json.side_effect = AsyncMock(return_value=body)
       response = await get_stream(mock_request)
       response_json = json.loads(response.text)