log frameAge in modelData

Author: adeebshihadeh

cereal

@@ -227,7 +227,7 @@ def update_events(self, CS):
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
-    if (self.sm['frame'].frameId - self.sm['model'].frameId) > 1:
+    if self.sm['model'].frameAge > 1:
       self.events.add(EventName.modeldLagging)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car

selfdrive/controls/controlsd.py

@@ -214,8 +214,8 @@ int main(int argc, char **argv) {
                              model_transform, NULL, vec_desire);
         mt2 = millis_since_boot();
 
-        model_publish(pm, extra.frame_id, frame_id, model_buf, extra.timestamp_eof);
-        posenet_publish(pm, extra.frame_id, frame_id, model_buf, extra.timestamp_eof);
+        model_publish(pm, extra.frame_id, frame_id, sm.allAliveAndValid(), model_buf, extra.timestamp_eof);
+        posenet_publish(pm, extra.frame_id, frame_id, sm.allAliveAndValid(), model_buf, extra.timestamp_eof);
 
         LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu", mt2-mt1, mt1-last, extra.frame_id, frame_id);
         last = mt1;

selfdrive/modeld/modeld.cc

@@ -245,7 +245,7 @@ void fill_longi(cereal::ModelData::LongitudinalData::Builder longi, const float
   longi.setAccelerations(accel);
 }
 
-void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
+void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, bool sm_alive_valid,
                    const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
   // make msg
   capnp::MallocMessageBuilder msg;
@@ -256,6 +256,9 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
   framed.setFrameId(vipc_frame_id);
   framed.setTimestampEof(timestamp_eof);
 
+  //
+  framed.setFrameAge((frame_id > vipc_frame_id) ? frame_id - vipc_frame_id : 0);
+
   auto lpath = framed.initPath();
   fill_path(lpath, net_outputs.path, false, 0);
   auto left_lane = framed.initLeftLane();
@@ -290,13 +293,13 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
 
   auto meta = framed.initMeta();
   fill_meta(meta, net_outputs.meta);
-  event.setValid(frame_id < vipc_frame_id + MAX_FRAME_AGE);
+  event.setValid((frame_id < vipc_frame_id + MAX_FRAME_AGE) && sm_alive_valid);
 
   pm.send("model", msg);
 }
 
-void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                   const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
+void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, bool sm_alive_valid,
+                     const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
   capnp::MallocMessageBuilder msg;
   cereal::Event::Builder event = msg.initRoot<cereal::Event>();
   event.setLogMonoTime(nanos_since_boot());
@@ -326,7 +329,7 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
 
   posenetd.setTimestampEof(timestamp_eof);
   posenetd.setFrameId(vipc_frame_id);
-  event.setValid(frame_id < vipc_frame_id + MAX_FRAME_AGE);
+  event.setValid((frame_id < vipc_frame_id + MAX_FRAME_AGE) && sm_alive_valid);
 
   pm.send("cameraOdometry", msg);
 }

selfdrive/modeld/models/driving.cc

@@ -73,8 +73,8 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
 void model_free(ModelState* s);
 void poly_fit(float *in_pts, float *in_stds, float *out);
 
-void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                   const ModelDataRaw &data, uint64_t timestamp_eof);
-void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
+void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, bool sm_alive_valid,
                    const ModelDataRaw &data, uint64_t timestamp_eof);
+void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, bool sm_alive_valid,
+                     const ModelDataRaw &data, uint64_t timestamp_eof);
 #endif