put LongControlState in CarControl.Actuators (#22154)

selfdrive/car/honda/carcontroller.py

@@ -9,7 +9,7 @@ from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, C
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-
+LongCtrlState = car.CarControl.Actuators.LongControlState
 
 def compute_gb_honda_bosch(accel, speed):
   #TODO returns 0s, is unused
@@ -172,11 +172,8 @@ class CarController():
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
       lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
 
-
-
-    # TODO: pass in LoC.long_control_state and use that to decide starting/stoppping
-    stopping = accel < 0 and CS.out.vEgo < 0.3
-    starting = accel > 0 and CS.out.vEgo < 0.3
+    stopping = actuators.longControlState == LongCtrlState.stopping
+    starting = actuators.longControlState == LongCtrlState.starting
 
     # Prevent rolling backwards
     accel = -4.0 if stopping else accel

selfdrive/controls/controlsd.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import os
 import math
+from numbers import Number
+
 from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
@@ -507,7 +509,11 @@ class Controls:
 
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
-      if not math.isfinite(getattr(actuators, p)):
+      attr = getattr(actuators, p)
+      if not isinstance(attr, Number):
+        continue
+
+      if not math.isfinite(attr):
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 

selfdrive/controls/lib/longcontrol.py

@@ -1,10 +1,10 @@
-from cereal import log
+from cereal import car
 from common.numpy_fast import clip, interp
 from selfdrive.controls.lib.pid import PIController
 from selfdrive.controls.lib.drive_helpers import CONTROL_N
 from selfdrive.modeld.constants import T_IDXS
 
-LongCtrlState = log.ControlsState.LongControlState
+LongCtrlState = car.CarControl.Actuators.LongControlState
 
 STOPPING_EGO_SPEED = 0.5
 STOPPING_TARGET_SPEED_OFFSET = 0.01