Alert when modeld is lagging by more than a frame #1823
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pd0wm
reviewed
Jul 9, 2020
selfdrive/modeld/models/driving.cc
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| @@ -290,13 +291,13 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, | |||
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| 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); | |||
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I would compute frame age only once, and store in a local variable. Same computation is done on line 257.
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LGTM |
pd0wm
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Jul 9, 2020
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