mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 05:23:41 +08:00
Zeph Leggett
ce766c0668
A Jetlink hand-back while engaged soft-disabled with Big Model Failed and "Restart the car to retry", although the small model drives on and Jetlink retries in seconds. Now nothing disengages: a Big Model Lost warning shows for 5 s. A native chestnut's loss still raises Big Model Failed. jetlink's swap events also refuse engaging for the second after a swap (bigModelLoading) and hold the comm and localizer errors the swap's dropped frame raises, as a chestnut load does. In control is the rule the swap itself waits on (openpilot, or AOL armed or paused), and a gap in modeld's runtime record holds the last state instead of reading as a switch. The warning is a selfdrived alert, like aolAvailability: no new OnroadEvent, so cereal and schema-policy.json are unchanged.
19 lines
919 B
Python
19 lines
919 B
Python
"""The Jetlink adapter's in-control rule over fixed messages, for its tests and selfdrived's."""
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from types import SimpleNamespace
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from jetlink.openpilot.testing import FakeSubMaster
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from openpilot.starpilot.models import jetlink_adapter
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IDLE = {"selfdriveState": SimpleNamespace(enabled=False, active=False),
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"carControl": SimpleNamespace(enabled=False, latActive=False, longActive=False)}
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AXES_IDLE = SimpleNamespace(desiredLateral=False, desiredLongitudinal=False, lateralActive=False, longitudinalActive=False)
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ARMED_PAUSED = SimpleNamespace(allowedLatch=False, lateralArmed=True)
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def rule(core=None, aol=None):
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"""The adapter, its in_control() reading openpilot's services (idle unless given) and AOL's."""
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op = jetlink_adapter.adapter()
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op._sm = FakeSubMaster(op.IN_CONTROL_SERVICES, **{**IDLE, **(core or {})})
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op._aol = FakeSubMaster(jetlink_adapter.AOL_SERVICES, **(aol or {}))
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return op
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