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Ensure controlsd can engage again in process replay (#23556)

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* hacks to make process replay engage again

* dont change that

* enable engagement check again

* chmod +x

* first working regen

* proper logMonoTime

* fix video framerate consistency

* mpc is valid again

* proper alive checks

* revert loggerd change

* ensure engaged in regen, fix managerState, peripheralState

* ubloxRaw is unused

* add submaster config for gm

* regen all services we can run without HW

* fix loggerd

* loggerd: matroska without the extension

* update ref
This commit is contained in:
Willem Melching
2022-01-21 13:13:34 +01:00
committed by GitHub
parent 6a9514570c
commit d3d10e014a
7 changed files with 159 additions and 65 deletions
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selfdrive/controls/controlsd.py
+7 -2
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@@ -263,6 +263,7 @@ class Controls:
safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam
else:
safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
if safety_mismatch or self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)
@@ -279,7 +280,7 @@ class Controls:
if not self.logged_comm_issue:
invalid = [s for s, valid in self.sm.valid.items() if not valid]
not_alive = [s for s, alive in self.sm.alive.items() if not alive]
cloudlog.event("commIssue", invalid=invalid, not_alive=not_alive)
cloudlog.event("commIssue", invalid=invalid, not_alive=not_alive, can_error=self.can_rcv_error, error=True)
self.logged_comm_issue = True
else:
self.logged_comm_issue = False
@@ -365,6 +366,10 @@ class Controls:
if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
self.initialized = True
if REPLAY and self.sm['pandaStates'][0].controlsAllowed:
self.state = State.enabled
Params().put_bool("ControlsReady", True)
# Check for CAN timeout
@@ -593,7 +598,7 @@ class Controls:
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
model_v2 = self.sm['modelV2']
model_v2 = self.sm['modelV2']
desire_prediction = model_v2.meta.desirePrediction
if len(desire_prediction) and ldw_allowed:
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5