From 29b70b39413e1852bb512155af6b6a94a5bd9454 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 10 Mar 2024 00:11:12 -0800
Subject: [PATCH] odd drain sock proc replay behavior

---
 selfdrive/controls/lib/longitudinal_planner.py | 9 ++++-----
 selfdrive/controls/plannerd.py                 | 8 ++++++--
 selfdrive/test/longitudinal_maneuvers/plant.py | 3 +--
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index eb895c3e86..96c993eec7 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -93,15 +93,14 @@ class LongitudinalPlanner:
       j = np.zeros(len(T_IDXS_MPC))
     return x, v, a, j
 
-  def update(self, sm, carState_sock):
+  def update(self, sm, buttonEvents):
     if self.param_read_counter % 50 == 0:
       self.read_param()
 
     # decrement personality on distance button press
-    for m in messaging.drain_sock(carState_sock, wait_for_one=False):
-      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in m.carState.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.write_param()
+    if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in buttonEvents):
+      self.personality = (self.personality - 1) % 3
+      self.write_param()
 
     self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index aaba814abc..32660dcb02 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -30,14 +30,18 @@ def plannerd_thread():
   pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
-  carState_sock = messaging.sub_sock('carState')
+
+  buttonEvents = []
 
   while True:
     sm.update()
+    if sm.updated['carState']:
+      buttonEvents.extend(sm['carState'].buttonEvents)
     if sm.updated['modelV2']:
-      longitudinal_planner.update(sm, carState_sock)
+      longitudinal_planner.update(sm, buttonEvents)
       longitudinal_planner.publish(sm, pm)
       publish_ui_plan(sm, pm, longitudinal_planner)
+      buttonEvents.clear()
 
 def main():
   plannerd_thread()
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 7e9576fdec..1be6e71e8b 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -50,7 +50,6 @@ class Plant:
     from openpilot.selfdrive.car.honda.interface import CarInterface
 
     self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed)
-    self.carState_sock = messaging.sub_sock('carState')
 
   @property
   def current_time(self):
@@ -122,7 +121,7 @@ class Plant:
           'carState': car_state.carState,
           'controlsState': control.controlsState,
           'modelV2': model.modelV2}
-    self.planner.update(sm, self.carState_sock)
+    self.planner.update(sm, [])
     self.speed = self.planner.v_desired_filter.x
     self.acceleration = self.planner.a_desired
     self.speeds = self.planner.v_desired_trajectory.tolist()