From 50b860c9285057f04a74af0b3dedf728bc5aada9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 1 Aug 2026 23:27:36 -0400 Subject: [PATCH] Reapply "plannerd: check all services for validity (#38341)" This reverts commit 0265ae5f7629f464daecdba562962a3f33c29bb9. --- openpilot/selfdrive/controls/lib/longitudinal_planner.py | 2 +- openpilot/selfdrive/controls/plannerd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py index 6eaed7370..7e3446a76 100755 --- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py @@ -158,7 +158,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP): def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') - plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState']) + plan_send.valid = sm.all_checks() longitudinalPlan = plan_send.longitudinalPlan longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py index 24b07af7f..d80b69ad1 100755 --- a/openpilot/selfdrive/controls/plannerd.py +++ b/openpilot/selfdrive/controls/plannerd.py @@ -41,7 +41,7 @@ def main(): ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl']) msg = messaging.new_message('driverAssistance') - msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters']) + msg.valid = sm.all_checks() msg.driverAssistance.leftLaneDeparture = ldw.left msg.driverAssistance.rightLaneDeparture = ldw.right pm.send('driverAssistance', msg)