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teslurr

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firestar5683
2026-05-07 17:07:25 -05:00
parent 5e0a1bbec3
commit b038b102d8
4 changed files with 24 additions and 4 deletions
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panda/board/obj/gitversion.h
+1 -1
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@@ -1,2 +1,2 @@
extern const uint8_t gitversion[19];
const uint8_t gitversion[19] = "DEV-357d7e54-DEBUG";
const uint8_t gitversion[19] = "DEV-5e0a1bbe-DEBUG";
panda/board/obj/version
+1 -1
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@@ -1 +1 @@
DEV-357d7e54-DEBUG
DEV-5e0a1bbe-DEBUG
selfdrive/pandad/pandad
BIN
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selfdrive/pandad/pandad.cc
+22 -2
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@@ -45,6 +45,22 @@ ExitHandler do_exit;
static uint64_t last_door_lock_command_time = 0;
static bool is_tesla_preap(Params &params) {
const std::string car_params = params.get("CarParams");
if (car_params.empty()) {
return false;
}
try {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(car_params.data(), car_params.size()));
cereal::CarParams::Reader cp = cmsg.getRoot<cereal::CarParams>();
return cp.getCarFingerprint() == "TESLA_MODEL_S_PREAP";
} catch (...) {
return false;
}
}
bool check_all_connected(const std::vector<Panda *> &pandas) {
for (const auto& panda : pandas) {
if (!panda->connected()) {
@@ -453,7 +469,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
Params params;
RateKeeper rk("pandad", 100);
SubMaster sm({"selfdriveState"});
SubMaster sm({"selfdriveState", "starpilotCarState"});
PubMaster pm({"can", "pandaStates", "peripheralState"});
PandaSafety panda_safety(pandas);
Panda *peripheral_panda = pandas[0];
@@ -472,7 +488,11 @@ void pandad_run(std::vector<Panda *> &pandas) {
// Process panda state at 10 Hz
if (rk.frame() % 10 == 0) {
sm.update(0);
engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
const bool preap_aol_engaged = is_tesla_preap(params) &&
sm["starpilotCarState"].getStarpilotCarState().getAlwaysOnLateralEnabled();
engaged = sm.allAliveAndValid({"selfdriveState", "starpilotCarState"}) && (
sm["selfdriveState"].getSelfdriveState().getEnabled() || preap_aol_engaged
);
is_onroad = params.getBool("IsOnroad");
process_panda_state(pandas, &pm, engaged, is_onroad, spoofing_started);
panda_safety.configureSafetyMode(is_onroad);