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Code Issues Packages Projects Releases Wiki Activity

cleanup old sm pm args (#30241)

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* cleanup sm pm

* fix controlsd

* fix
This commit is contained in:
Adeeb Shihadeh
2023-10-13 23:27:04 -07:00
committed by GitHub
parent 9e24a11f17
commit b68cfbb332
8 changed files with 41 additions and 64 deletions
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selfdrive/controls/controlsd.py
+15 -21
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@@ -56,39 +56,33 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
class Controls:
def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
def __init__(self, CI=None):
config_realtime_process(4, Priority.CTRL_HIGH)
# Ensure the current branch is cached, otherwise the first iteration of controlsd lags
self.branch = get_short_branch("")
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
'carControl', 'carEvents', 'carParams'])
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
'carControl', 'carEvents', 'carParams'])
self.sensor_packets = ["accelerometer", "gyroscope"]
self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
self.log_sock = messaging.sub_sock('androidLog')
self.params = Params()
self.sm = sm
if self.sm is None:
ignore = self.sensor_packets + ['testJoystick']
if SIMULATION:
ignore += ['driverCameraState', 'managerState']
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
'testJoystick'] + self.camera_packets + self.sensor_packets,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
ignore = self.sensor_packets + ['testJoystick']
if SIMULATION:
ignore += ['driverCameraState', 'managerState']
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
'testJoystick'] + self.camera_packets + self.sensor_packets,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
if CI is None:
# wait for one pandaState and one CAN packet
@@ -879,8 +873,8 @@ class Controls:
self.prof.display()
def main(sm=None, pm=None, logcan=None):
controls = Controls(sm, pm, logcan)
def main():
controls = Controls()
controls.controlsd_thread()