controlsd: deprecate startMonoTime (commaai#33445)

* controlsd: deprecate startMonoTime * update refs
robin-reckmann · Sep 4, 2024 · 04eb73e · 04eb73e
1 parent ffc089c
commit 04eb73e
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Showing 5 changed files with 6 additions and 9 deletions.
diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -727,7 +727,6 @@ struct SelfdriveState {
 
 struct ControlsState @0x97ff69c53601abf1 {
   cumLagMs @15 :Float32;
-  startMonoTime @48 :UInt64;
   longitudinalPlanMonoTime @28 :UInt64;
   lateralPlanMonoTime @50 :UInt64;
 
@@ -880,6 +879,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   personalityDEPRECATED @66 :LongitudinalPersonality;
   vCruiseDEPRECATED @22 :Float32;  # actual set speed
   vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
+  startMonoTimeDEPRECATED @48 :UInt64;
 }
 
 struct DrivingModelData {

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -649,7 +649,7 @@ def state_control(self, CS):
 
     return CC, lac_log
 
-  def publish_logs(self, CS, start_time, CC, lac_log):
+  def publish_logs(self, CS, CC, lac_log):
     """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
 
     # Orientation and angle rates can be useful for carcontroller
@@ -742,7 +742,6 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)
     controlsState.cumLagMs = -self.rk.remaining * 1000.
-    controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
 
     lat_tuning = self.CP.lateralTuning.which()
@@ -791,8 +790,6 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     self.pm.send('carControl', cc_send)
 
   def step(self):
-    start_time = time.monotonic()
-
     # Sample data from sockets and get a carState
     CS = self.data_sample()
     cloudlog.timestamp("Data sampled")
@@ -808,7 +805,7 @@ def step(self):
     CC, lac_log = self.state_control(CS)
 
     # Publish data
-    self.publish_logs(CS, start_time, CC, lac_log)
+    self.publish_logs(CS, CC, lac_log)
 
     self.CS_prev = CS
 

diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
@@ -141,7 +141,7 @@ def format_diff(results, log_paths, ref_commit):
 if __name__ == "__main__":
   log1 = list(LogReader(sys.argv[1]))
   log2 = list(LogReader(sys.argv[2]))
-  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"]
+  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.cumLagMs"]
   results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}}
   log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}}
   diff_short, diff_long, failed = format_diff(results, log_paths, None)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
@@ -477,7 +477,7 @@ def locationd_config_pubsub_callback(params, cfg, lr):
       "gpsLocationExternal", "gpsLocation",
     ],
     subs=["selfdriveState", "controlsState", "carControl", "onroadEvents"],
-    ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
+    ignore=["logMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
     init_callback=get_car_params_callback,
     should_recv_callback=controlsd_rcv_callback,

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ca8cca8eeca938c3802109d6ea25cb719dcc649a
+455a17a0b94354adf4cab219f0f8c4c93760d596