Skip to content

controlsd: avoid lag on first iteration due to get_short_branch #25031

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Jul 4, 2022
Merged

controlsd: avoid lag on first iteration due to get_short_branch #25031

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1256874
controlsd: avoid lag on first iteration due to get_short_branch
pd0wm Jul 4, 2022
45647b2
always cache
pd0wm Jul 4, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions selfdrive/controls/controlsd.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
from common.conversions import Conversions as CV
from panda import ALTERNATIVE_EXPERIENCE
from system.swaglog import cloudlog
from system.version import get_short_branch
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
Expand Down Expand Up @@ -62,6 +63,9 @@ class Controls:
def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
config_realtime_process(4, Priority.CTRL_HIGH)

# Ensure the current branch is cached, otherwise the first iteration of controlsd lags
self.branch = get_short_branch("")

# Setup sockets
self.pm = pm
if self.pm is None:
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/controls/lib/events.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,7 @@ def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: b
return func

def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
branch = get_short_branch("")
branch = get_short_branch("") # Ensure get_short_branch is cached to avoid lags on startup
if "REPLAY" in os.environ:
branch = "replay"

Expand Down