fix curvatured, missing services, split lists, cleanup unneccessary

openpilot/selfdrive/controls/controlsd.py

@@ -53,7 +53,7 @@ class Controls(ControlsExt):
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP, self.CP_IC)
 
-    ic_sm_services = ['liveCurvatureParameters', 'longitudinalPlanIC', 'carStateIC']
+    ic_sm_services = ['liveCurvatureParameters', 'longitudinalPlanIC']
     ic_pm_services = ['carControlIC', 'controlsStateIC']
     self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',

openpilot/selfdrive/controls/plannerd.py

@@ -29,7 +29,7 @@ def main():
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP', 'longitudinalPlanIC'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', 'carStateIC', gps_location_service],
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                            poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 
   while True:

openpilot/selfdrive/locationd/curvatured.py

@@ -855,6 +855,8 @@ class CurvatureEstimator(CurvatureDLookup):
       if msg.steeringPressed:
         self.last_override_t = t
     elif which == "carStateIC":
+      if self.steering_pressed:
+        self.steering_pressed[-1] |= bool(msg.steeringSlightlyPressed)
       if msg.steeringSlightlyPressed:
         self.last_override_t = t
     elif which == "controlsStateIC":
@@ -955,7 +957,8 @@ def main():
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveCurvatureParameters'])
-  sm = messaging.SubMaster(['carControlIC', 'carControl', 'carState', 'carStateIC', 'liveCalibration', 'livePose', 'liveDelay', 'controlsState', 'controlsStateIC'], poll='livePose')
+  sm = messaging.SubMaster(['carControlIC', 'carControl', 'carState', 'carStateIC', 'liveCalibration', 'livePose',
+                            'liveDelay', 'controlsState', 'controlsStateIC'], poll='livePose')
 
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
@@ -997,4 +1000,3 @@ def main():
 
 if __name__ == "__main__":
   main()
-

openpilot/selfdrive/locationd/test/test_curvatured.py

@@ -340,6 +340,7 @@ class TestCurvatureEstimator:
     estimator.handle_log(12.0, "carState", car.CarState(vEgo=20.0, steeringPressed=False))
     estimator.handle_log(12.0, "carStateIC", custom.CarStateIC(steeringSlightlyPressed=True))
 
+    assert estimator.steering_pressed[-1]
     assert estimator.last_override_t == 12.0
 
   def test_interp_curve_value_matches_interp_curve_samples(self):

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -112,7 +112,7 @@ class SelfdriveD(CruiseHelper):
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'liveCurvatureParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                    'lateralManeuverPlan', 'modelDataV2SP', 'longitudinalPlanSP', 'carStateSP', 'carStateIC'] + \
+                                    'lateralManeuverPlan', 'modelDataV2SP', 'longitudinalPlanSP', 'carStateIC'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))

openpilot/selfdrive/test/process_replay/process_replay.py

@@ -444,7 +444,7 @@ CONFIGS = [
       "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
       "liveCurvatureParameters",
       "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
-      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
+      "carControl", "carStateIC", "driverAssistance", "alertDebug", "audioFeedback",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
@@ -457,9 +457,9 @@ CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
     pubs=["liveParameters", "liveTorqueParameters", "liveCurvatureParameters", "modelV2", "selfdriveState",
-          "liveCalibration", "livePose", "longitudinalPlan", "carState", "carOutput",
+          "liveCalibration", "livePose", "longitudinalPlan", "longitudinalPlanIC", "carState", "carOutput",
           "driverMonitoringState", "onroadEvents", "driverAssistance"],
-    subs=["carControl", "controlsState"],
+    subs=["carControl", "carControlIC", "controlsState", "controlsStateIC"],
     ignore=["logMonoTime", ],
     init_callback=get_car_params_callback,
     should_recv_callback=MessageBasedRcvCallback("selfdriveState"),
@@ -467,8 +467,8 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="card",
-    pubs=["pandaStates", "carControl", "onroadEvents", "can"],
-    subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"],
+    pubs=["pandaStates", "carControl", "carControlIC", "onroadEvents", "can"],
+    subs=["sendcan", "carState", "carStateIC", "carParams", "carParamsIC", "carOutput", "liveTracks"],
     ignore=["logMonoTime", "carState.cumLagMs"],
     init_callback=card_fingerprint_callback,
     should_recv_callback=card_rcv_callback,
@@ -488,7 +488,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
-    subs=["longitudinalPlan", "driverAssistance"],
+    subs=["longitudinalPlan", "longitudinalPlanIC", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=MessageBasedRcvCallback("modelV2"),
@@ -557,7 +557,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="curvatured",
-    pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "controlsState"],
+    pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carStateIC", "carControl", "carControlIC", "controlsState", "controlsStateIC"],
     subs=["liveCurvatureParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,