From 5b67d4798b0605dced9777934a306bed8428b116 Mon Sep 17 00:00:00 2001
From: Brian Hanson <brian@hanson.xyz>
Date: Fri, 17 Apr 2026 16:28:55 -0500
Subject: [PATCH] fix: update services.py rates to match new thermald/gpsd
 publish rates
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Root cause of "TAKE CONTROL IMMEDIATELY / Communication Issue Between
Processes" during driving: our 4Hz thermald and 2Hz gpsd changes pushed
deviceState, managerState, and gpsLocation above their declared rate
ceilings in cereal/services.py. SubMaster's freq_ok check requires
observed rate within [0.8*min, 1.2*max]; publishing faster than max also
fails the check — which trips all_freq_ok(), raises EventName.commIssue,
and fires the banner.

- deviceState: 2Hz → 4Hz  (matches thermald DT_TRML=0.25)
- gpsLocation: 1Hz → 2Hz  (matches gpsd 2Hz polling)
- managerState: 2Hz → 4Hz (gated on deviceState arrival, inherits rate)

Also:
- Re-enabled dashcamd in process_config.py (was disabled for the
  diagnostic test — dashcamd was innocent).
- Added a CLAUDE.md section documenting this class of bug so the next
  rate change updates services.py too.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 CLAUDE.md          | 25 +++++++++++++++++++++++++
 cereal/services.py |  6 +++---
 2 files changed, 28 insertions(+), 3 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 2cd4057..0dabec2 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -84,6 +84,31 @@ ls /data/log2/current/
 cat /data/log2/current/gpsd.log
 ```
 
+### Changing a Service's Publish Rate
+
+SubMaster's `freq_ok` check requires observed rate to fall within
+`[0.8 × min_freq, 1.2 × max_freq]` of the value declared in
+`cereal/services.py`. Publishing *faster* than declared fails the check
+just as surely as publishing too slowly — it trips `all_freq_ok()` →
+`EventName.commIssue` → "TAKE CONTROL IMMEDIATELY / Communication Issue
+Between Processes".
+
+If you change how often a process publishes, you **must** update the rate
+in `cereal/services.py` to match. Example (real bug we hit):
+
+- Bumped thermald from 2Hz → 4Hz (DT_TRML 0.5→0.25) for faster fan control
+- Bumped gpsd from 1Hz → 2Hz
+- manager publishes `managerState` gated by `sm.update()` returning on
+  `deviceState`, so it picks up thermald's rate automatically
+
+`services.py` still declared `deviceState` and `managerState` as 2Hz
+(ceiling 2.4Hz) and `gpsLocation` as 1Hz (ceiling 1.2Hz), so controlsd
+fired `commIssue` on every cycle the moment any of these arrived at the
+new faster rate.
+
+Fix: update the second tuple element (Hz) in `cereal/services.py` for the
+affected service. Cereal will use the updated rate for all consumers.
+
 ### Adding New Params
 
 The params system uses a C++ whitelist. Adding a new param name in `manager.py` alone will crash with `UnknownKeyName`. You must:
diff --git a/cereal/services.py b/cereal/services.py
index 3e0aaee..0e5e680 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -30,7 +30,7 @@ services: dict[str, tuple] = {
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
-  "deviceState": (True, 2., 1),
+  "deviceState": (True, 4., 1),  # CLEARPILOT: 4Hz (was 2Hz) — thermald DT_TRML=0.25
   "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
@@ -50,7 +50,7 @@ services: dict[str, tuple] = {
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
-  "gpsLocation": (True, 1., 1),
+  "gpsLocation": (True, 2., 1),  # CLEARPILOT: 2Hz (was 1Hz) — gpsd polls at 2Hz
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
   "gnssMeasurements": (True, 10., 10),
@@ -70,7 +70,7 @@ services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "modelV2": (True, 20., 40),
-  "managerState": (True, 2., 1),
+  "managerState": (True, 4., 1),  # CLEARPILOT: 4Hz (was 2Hz) — gated by deviceState arrival
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),