poll on peripheralState

after pandaStates
commaai · Sep 16, 2023 · 5eecb83 · 5eecb83
1 parent 2c99c19
commit 5eecb83
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Showing 2 changed files with 5 additions and 9 deletions.
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -476,13 +476,13 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   RateKeeper rk("panda_state_thread", 10);
 
   while (!do_exit && check_all_connected(pandas)) {
+    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
+
     if (sm.frame % 5 == 0) {
       // send out peripheralState at 2Hz
       send_peripheral_state(&pm, peripheral_panda);
     }
 
-    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
-
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
       rk.keepTime();

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
@@ -34,7 +34,7 @@
 CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
-PANDA_STATES_TIMEOUT = round(1000 / service_list['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
+PERIPHERAL_STATE_TIMEOUT = round(1000 / service_list['peripheralState'].frequency * 1.5)  # 1.5x the expected peripheralState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
@@ -168,7 +168,7 @@ 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=["peripheralState"])
 
   count = 0
 
@@ -209,11 +209,7 @@ def thermald_thread(end_event, hw_queue) -> None:
   fan_controller = None
 
   while not end_event.is_set():
-    sm.update(PANDA_STATES_TIMEOUT)
-
-    # Run at 2Hz
-    if sm.frame % round(service_list['pandaStates'].frequency * DT_TRML) != 0:
-      continue
+    sm.update(PERIPHERAL_STATE_TIMEOUT)
 
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']