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Code Issues Packages Projects Releases Wiki Activity

process replay migration: fix longitudinalPlan (#35035)

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YassineYousfi
2025-04-18 19:21:52 -07:00
committed by GitHub
parent 3b60b22cee
commit 7ceb284d6d
1 changed files with 2 additions and 2 deletions
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selfdrive/test/process_replay/migration.py
+2 -2
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@@ -13,7 +13,7 @@ from opendbc.car.gm.values import GMSafetyFlags
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
from openpilot.system.manager.process_config import managed_processes
from openpilot.tools.lib.logreader import LogIterable
@@ -109,7 +109,7 @@ def migrate_longitudinalPlan(msgs):
if msg.which() != 'longitudinalPlan':
continue
new_msg = msg.as_builder()
a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
ops.append((index, new_msg.as_reader()))
return ops, [], []