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carControlSP: parse radarState's leadOne & leadTwo (#1082)

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* `carControlSP`: parse `radarState`'s `leadOne` & `leadTwo`

* typo

* bump
This commit is contained in:
Jason Wen
2025-07-29 10:53:06 -04:00
committed by GitHub
parent bbdbb55a2a
commit 5b137d666f
4 changed files with 31 additions and 2 deletions
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cereal/custom.capnp
+23
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@@ -25,6 +25,27 @@ struct ModularAssistiveDrivingSystem {
}
}
# Same struct as Log.RadarState.LeadData
struct LeadData {
dRel @0 :Float32;
yRel @1 :Float32;
vRel @2 :Float32;
aRel @3 :Float32;
vLead @4 :Float32;
dPath @6 :Float32;
vLat @7 :Float32;
vLeadK @8 :Float32;
aLeadK @9 :Float32;
fcw @10 :Bool;
status @11 :Bool;
aLeadTau @12 :Float32;
modelProb @13 :Float32;
radar @14 :Bool;
radarTrackId @15 :Int32 = -1;
aLeadDEPRECATED @5 :Float32;
}
struct SelfdriveStateSP @0x81c2f05a394cf4af {
mads @0 :ModularAssistiveDrivingSystem;
}
@@ -174,6 +195,8 @@ struct CarParamsSP @0x80ae746ee2596b11 {
struct CarControlSP @0xa5cd762cd951a455 {
mads @0 :ModularAssistiveDrivingSystem;
params @1 :List(Param);
leadOne @2 :LeadData;
leadTwo @3 :LeadData;
struct Param {
key @0 :Text;
opendbc_repo
+1 -1
Submodule opendbc_repo updated: b68fab9ea4...25a5079a6e
selfdrive/car/helpers.py
+2
View File
@@ -58,5 +58,7 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
return struct_dataclass
sunnypilot/selfdrive/controls/controlsd_ext.py
+5 -1
View File
@@ -26,7 +26,7 @@ class ControlsExt:
self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
cloudlog.info("controlsd_ext got CarParamsSP")
self.sm_services_ext = ['selfdriveStateSP']
self.sm_services_ext = ['radarState', 'selfdriveStateSP']
self.pm_services_ext = ['carControlSP']
def get_params_sp(self) -> None:
@@ -47,6 +47,10 @@ class ControlsExt:
def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
CC_SP = custom.CarControlSP.new_message()
if sm.updated['radarState']:
CC_SP.leadOne = sm['radarState'].leadOne
CC_SP.leadTwo = sm['radarState'].leadTwo
# MADS state
CC_SP.mads = sm['selfdriveStateSP'].mads