Merge pull request commaai#412 from arne182/mapd

5 ways ahead and fix for lagging zmq
priuscom · Jul 16, 2019 · 232596c · 232596c
2 parents 11af699 + bf561e6
commit 232596c
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
@@ -342,7 +342,7 @@ def manager_thread():
   # now loop
   global manager_sock
   context = zmq.Context()
-  thermal_sock = messaging.sub_sock(context, service_list['thermal'].port)
+  thermal_sock = messaging.sub_sock(context, service_list['thermal'].port, conflate=True)
   gps_sock = messaging.sub_sock(context, service_list['gpsLocation'].port, conflate=True)
   manager_sock = messaging.pub_sock(context, service_list['managerData'].port)
 

diff --git a/selfdrive/mapd/mapd_helpers.py b/selfdrive/mapd/mapd_helpers.py
@@ -219,7 +219,7 @@ def max_speed_ahead(self, current_speed_limit, lat, lon, heading, lookahead):
 
     speed_ahead = None
     speed_ahead_dist = None
-    lookahead_ways = 3
+    lookahead_ways = 5
     way = self
     for i in range(lookahead_ways):
       way_pts = way.points_in_car_frame(lat, lon, heading)

diff --git a/selfdrive/updated.py b/selfdrive/updated.py
@@ -15,7 +15,7 @@
 NICE_LOW_PRIORITY = ["nice", "-n", "19"]
 def main(gctx=None):
   context = zmq.Context()
-  manager_sock = messaging.sub_sock(context, service_list['managerData'].port)
+  manager_sock = messaging.sub_sock(context, service_list['managerData'].port, conflate=True)
   NEED_REBOOT = False
   while True:
     # try network