more reliable by just copying the frame from 220

selfdrive/boardd/boardd.cc

@@ -421,6 +421,14 @@ void *can_send_thread(void *crap) {
   zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0);
   zmq_connect(subscriber, "tcp://127.0.0.1:8017");
 
+  // drain sendcan to delete any stale messages from previous runs
+  zmq_msg_t msg;
+  zmq_msg_init(&msg);
+  int err = 0;
+  while(err >= 0) {
+    err = zmq_msg_recv(&msg, subscriber, ZMQ_DONTWAIT);
+  }
+
   // run as fast as messages come in
   while (!do_exit) {
     can_send(subscriber);

selfdrive/boardd/boardd.py

@@ -1,4 +1,8 @@
 #!/usr/bin/env python
+
+# This file is not used by OpenPilot. Only boardd.cc is used.
+# The python version is slower, but has more options for development.
+
 import os
 import struct
 import zmq
@@ -161,6 +165,9 @@ def boardd_loop(rate=200):
   # *** subscribes to can send
   sendcan = messaging.sub_sock(context, service_list['sendcan'].port)
 
+  # drain sendcan to delete any stale messages from previous runs
+  messaging.drain_sock(sendcan)
+
   while 1:
     # health packet @ 1hz
     if (rk.frame%rate) == 0:
@@ -203,6 +210,9 @@ def boardd_proxy_loop(rate=200, address="192.168.2.251"):
   # *** publishes to can send
   sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
 
+  # drain sendcan to delete any stale messages from previous runs
+  messaging.drain_sock(sendcan)
+
   while 1:
     # recv @ 100hz
     can_msgs = can_recv()

selfdrive/can/parser.cc

@@ -177,6 +177,14 @@ class CANParser {
 
     zmq_connect(subscriber, tcp_addr_char);
 
+    // drain sendcan to delete any stale messages from previous runs
+    zmq_msg_t msgDrain;
+    zmq_msg_init(&msgDrain);
+    int err = 0;
+    while(err >= 0) {
+      err = zmq_msg_recv(&msgDrain, subscriber, ZMQ_DONTWAIT);
+    }
+
     dbc = dbc_lookup(dbc_name);
     assert(dbc);
 

selfdrive/car/chrysler/carcontroller.py

@@ -1,3 +1,4 @@
+import logging
 from common.numpy_fast import clip, interp
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 # from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
@@ -54,6 +55,7 @@ def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_
     self.last_angle = 0
     self.send_new_status = False  # indicates we want to send 2a6 when we can.
     self.prev_2a6 = -9999  # long time ago.
+    self.prev_frame = -1  # previous frame from interface from 220 frame
     self.ccframe = 0
     self.accel_steady = 0.
     self.car_fingerprint = car_fingerprint
@@ -72,6 +74,10 @@ def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_
 
     self.packer = CANPacker(dbc_name)
 
+    logging.basicConfig(level=logging.DEBUG, filename="/tmp/chrylog", filemode="a+",
+                        format="%(asctime)-15s %(levelname)-8s %(message)s")
+    logging.info('CarController init')
+
   def update(self, sendcan, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, audible_alert):
 
@@ -142,6 +148,10 @@ def update(self, sendcan, enabled, CS, frame, actuators,
     self.last_accel = apply_accel
     self.last_standstill = CS.standstill
 
+    if self.prev_frame == frame:
+      logging.info('prev_frame == frame so skipping')
+      return  # Do not reuse an old frame. This avoids repeating on shut-down.
+
     can_sends = []
 
     #*** control msgs ***
@@ -167,12 +177,14 @@ def update(self, sendcan, enabled, CS, frame, actuators,
         self.send_new_status = False
         self.prev_2a6 = self.ccframe
     new_msg = create_292(int(apply_steer * CAR_UNITS_PER_DEGREE), frame, moving_fast)
+    self.prev_frame = frame  # save so we do not reuse frames
     sendcan.send(can_list_to_can_capnp([new_msg], msgtype='sendcan').to_bytes())
     can_sends.append(new_msg)  # degrees * 5.1 -> car steering units
     for msg in can_sends:
       [addr, _, dat, _] = msg
-      #outp  = ('make_can_msg:%s  len:%d  %s' % ('0x{:02x}'.format(addr), len(dat),
-      #                                          ' '.join('{:02x}'.format(ord(c)) for c in dat)))
+      outp  = ('make_can_msg:%s  len:%d  %s' % ('0x{:02x}'.format(addr), len(dat),
+                                                ' '.join('{:02x}'.format(ord(c)) for c in dat)))
+      logging.info(outp)
 
 
     self.ccframe += 1

selfdrive/car/chrysler/carstate.py

@@ -1,3 +1,4 @@
+import logging
 from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.chrysler.values import DBC
@@ -40,10 +41,19 @@ def get_can_parser(CP):
     ("ACC_STATUS_2", "ACC_2", 0),
     ("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
     ("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
-    ("INCREMENTING_220", "LKAS_INDICATOR_1", 0),
+    ("INCREMENTING_220", "LKAS_INDICATOR_1", -1),
   ]
 
+  # It's considered invalid if it is not received for 10x the expected period (1/f).
   checks = [
+    # sig_address, frequency
+    # ("GEAR", 50),
+    ("BRAKE_2", 50),
+    ("LKAS_INDICATOR_1", 100),
+    ("SPEED_1", 100),
+    ("WHEEL_SPEEDS", 50),
+    ("STEERING", 100),
+    ("ACC_2", 50),
   ]
 
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@@ -68,6 +78,10 @@ def __init__(self, CP):
                          C=np.matrix([1.0, 0.0]),
                          K=np.matrix([[0.12287673], [0.29666309]]))
     self.v_ego = 0.0
+    logging.basicConfig(level=logging.DEBUG, filename="/tmp/chrylog-cs", filemode="a+",
+                        format="%(asctime)-15s %(levelname)-8s %(message)s")
+    logging.info('CarState init')
+
 
   def update(self, cp):
     # copy can_valid
@@ -77,7 +91,8 @@ def update(self, cp):
     self.prev_left_blinker_on = self.left_blinker_on
     self.prev_right_blinker_on = self.right_blinker_on
 
-    self.frame_220 = cp.vl["LKAS_INDICATOR_1"]['INCREMENTING_220']
+    self.frame_220 = int(cp.vl["LKAS_INDICATOR_1"]['INCREMENTING_220'])
+    logging.info('frame_220 %d' % self.frame_220)
 
     self.door_all_closed = not any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
                                     cp.vl["DOORS"]['DOOR_OPEN_FR'],

selfdrive/car/chrysler/interface.py

@@ -271,17 +271,21 @@ def apply(self, c, perception_state=log.Live20Data.new_message()):
     # this wasn't needed in the game, so could it be needed for OP?!?!
     # check if it's more than 3 away, accounting for 0x10 wrap-around.
 
-    f1 = int(self.frame) % 0x10
-    f2 = int(self.CS.frame_220) % 0x10  # shouldn't need the mod, but just in case.
-    fmin = min(f1, f2)
-    fmax = max(f1, f2)
-    if ((fmax - fmin) > 2) and ((fmin + 0x10 - fmax) > 2):
-      # copy lower nibble from frame_220 to our frame so they match
-      self.frame = (int(self.frame) & 0xfffffff0) | f2
+    if (self.CS.frame_220 == -1):
+      return False # if we haven't seen a frame 220, then do not update.
+    self.frame = self.CS.frame_220
+
+    # f1 = int(self.frame) % 0x10
+    # f2 = int(self.CS.frame_220) % 0x10  # shouldn't need the mod, but just in case.
+    # fmin = min(f1, f2)
+    # fmax = max(f1, f2)
+    # if ((fmax - fmin) > 2) and ((fmin + 0x10 - fmax) > 2):
+    #   # copy lower nibble from frame_220 to our frame so they match
+    #   self.frame = (int(self.frame) & 0xfffffff0) | f2
 
     self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
                    c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
                    c.hudControl.audibleAlert)
 
-    self.frame += 1
+    # self.frame += 1
     return False