From e90cd4ba126e91eda3ff08ed55f7c694c5db134e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 9 May 2024 19:45:55 -0700
Subject: [PATCH] temp try to send earlier

---
 selfdrive/controls/controlsd.py        | 16 +++++++++++-----
 tools/latencylogger/plot_timestamps.py |  3 ++-
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 91a6fd5718..3ede7787a1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -610,6 +610,12 @@ class Controls:
         lac_log.output = actuators.steer
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
+    # carControl
+    cc_send = messaging.new_message('carControl')
+    cc_send.valid = CS.canValid
+    cc_send.carControl = CC
+    self.pm.send('carControl', cc_send)
+
     if CS.steeringPressed:
       self.last_steering_pressed_frame = self.sm.frame
     recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
@@ -795,11 +801,11 @@ class Controls:
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
-    # carControl
-    cc_send = messaging.new_message('carControl')
-    cc_send.valid = CS.canValid
-    cc_send.carControl = CC
-    self.pm.send('carControl', cc_send)
+    # # carControl
+    # cc_send = messaging.new_message('carControl')
+    # cc_send.valid = CS.canValid
+    # cc_send.carControl = CC
+    # self.pm.send('carControl', cc_send)
 
   def step(self):
     start_time = time.monotonic()
diff --git a/tools/latencylogger/plot_timestamps.py b/tools/latencylogger/plot_timestamps.py
index dc4806c295..272226f6eb 100755
--- a/tools/latencylogger/plot_timestamps.py
+++ b/tools/latencylogger/plot_timestamps.py
@@ -387,7 +387,8 @@ if __name__ == "__main__":
   # args = parser.parse_args()
   #
   # r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  lr = LogReader('08e4c2a99df165b1/00000016--c3a4ca99ec/0', sort_by_time=True)
+  # lr = LogReader('08e4c2a99df165b1/00000016--c3a4ca99ec/0', sort_by_time=True)
+  lr = LogReader('08e4c2a99df165b1/00000017--e2d24ab118/0', sort_by_time=True)  # polls on carControl
 
   times, points = plot(lr)