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remove old model packet (#19769)

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* remove publisher

* move to V2

* radard new model

* fix plant

* change packety

* need hack here too

* change to new

* this has been wrong all along

* no more model msg

* subscribe to new model

* not needed anymore

* make work

* need to ignore that too

* should pass tests, needs car test

* fix process replay

* no more poly

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 124100d0fa42485edaf86cb25f77f27e8917eed1
This commit is contained in:
HaraldSchafer
2021-01-19 17:15:16 -08:00
committed by GitHub
parent eb34e08426
commit 5c2c6691b2
11 changed files with 56 additions and 173 deletions
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selfdrive/monitoring/dmonitoringd.py
+3 -3
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@@ -12,7 +12,7 @@ def dmonitoringd_thread(sm=None, pm=None):
pm = messaging.PubMaster(['dMonitoringState'])
if sm is None:
sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'model'], poll=['driverState'])
sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
driver_status = DriverStatus(rhd=Params().get("IsRHD") == b"1")
@@ -44,8 +44,8 @@ def dmonitoringd_thread(sm=None, pm=None):
driver_status.update(Events(), True, sm['controlsState'].enabled, sm['carState'].standstill)
v_cruise_last = v_cruise
if sm.updated['model']:
driver_status.set_policy(sm['model'])
if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'])
# Get data from dmonitoringmodeld
events = Events()