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James
2026-01-21 16:57:20 -07:00
parent 0977148c58
commit 1150f36fc8
1 changed files with 13 additions and 1 deletions
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frogpilot/controls/frogpilot_planner.py
+13 -1
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@@ -127,7 +127,19 @@ class FrogPilotPlanner:
def publish(self, theme_updated, sm, pm, frogpilot_toggles):
frogpilot_plan_send = messaging.new_message("frogpilotPlan")
frogpilot_plan_send.valid = sm.all_checks(service_list=["carState", "controlsState", "selfdriveState", "radarState"])
check_services = ["carState", "controlsState", "selfdriveState", "radarState"]
frogpilot_plan_send.valid = sm.all_checks(service_list=check_services)
# Debug: log which services are failing
if not frogpilot_plan_send.valid:
try:
with open("/data/frogpilot_planner_debug.log", "a") as f:
f.write(f"=== all_checks failed ===\n")
for svc in check_services:
f.write(f" {svc}: valid={sm.valid.get(svc)}, alive={sm.alive.get(svc)}, freq_ok={sm.freq_ok.get(svc)}\n")
f.write("\n")
except:
pass
frogpilotPlan = frogpilot_plan_send.frogpilotPlan
frogpilotPlan.accelerationJerk = float(A_CHANGE_COST * self.frogpilot_following.acceleration_jerk)