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process replay: support old routes with no peripheralState

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old-commit-hash: 7361d1a11b21cc6482ed9ba8e5505b88081b66f6
This commit is contained in:
Adeeb Shihadeh
2022-11-22 11:46:28 -08:00
parent 30414a7305
commit 4f7bfc430a
1 changed files with 6 additions and 5 deletions
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selfdrive/controls/controlsd.py
+6 -5
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@@ -275,11 +275,12 @@ class Controls:
# self.events.add(EventName.highCpuUsage)
# Alert if fan isn't spinning for 5 seconds
if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
else:
self.last_functional_fan_frame = self.sm.frame
if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
else:
self.last_functional_fan_frame = self.sm.frame
# Handle calibration status
cal_status = self.sm['liveCalibration'].calStatus