dang, we're dropping messages

selfdrive/controls/lib/longitudinal_planner.py

@@ -90,12 +90,13 @@ class LongitudinalPlanner:
       j = np.zeros(len(T_IDXS_MPC))
     return x, v, a, j
 
-  def update(self, sm):
+  def update(self, sm, carState_sock):
     # if self.param_read_counter % 50 == 0:
     #   self.read_param()
     # decrement personality on button press (Toyota can only decrement)
-    if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in sm['carState'].buttonEvents):
-      self.personality = (self.personality - 1) % 3
+    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.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'

selfdrive/controls/plannerd.py

@@ -30,11 +30,12 @@ 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')
 
   while True:
     sm.update()
     if sm.updated['modelV2']:
-      longitudinal_planner.update(sm)
+      longitudinal_planner.update(sm, carState_sock)
       longitudinal_planner.publish(sm, pm)
       publish_ui_plan(sm, pm, longitudinal_planner)