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infiniteCable2
2026-07-23 21:28:17 +02:00
parent cdd45fdd1a
commit ece4f85d1a
2 changed files with 10 additions and 6 deletions
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openpilot/selfdrive/car/card.py
+4 -2
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@@ -73,8 +73,10 @@ class Car:
def __init__(self, CI=None, RI=None) -> None:
self.can_sock = messaging.sub_sock('can', timeout=20)
self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'carControlIC', 'longitudinalPlanSP'])
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carParamsIC', 'carStateSP', 'carStateIC'])
ic_sm_services = ['carControlIC']
ic_pm_services = ['carParamsIC', 'carStateIC']
self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'] + ic_sm_services)
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'] + ic_pm_services)
self.can_rcv_cum_timeout_counter = 0
openpilot/selfdrive/controls/controlsd.py
+6 -4
View File
@@ -53,11 +53,13 @@ class Controls(ControlsExt):
self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP, self.CP_IC)
self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'liveCurvatureParameters', 'modelV2', 'selfdriveState',
'liveCalibration', 'livePose', 'longitudinalPlan', 'longitudinalPlanIC', 'lateralManeuverPlan', 'carState', 'carStateIC', 'carOutput',
'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
ic_sm_services = ['liveCurvatureParameters', 'longitudinalPlanIC', 'carStateIC']
ic_pm_services = ['carControlIC', 'controlsStateIC']
self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
'liveCalibration', 'livePose', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ic_sm_services + self.sm_services_ext,
poll='selfdriveState')
self.pm = messaging.PubMaster(['carControl', 'controlsState', 'carControlIC', 'controlsStateIC'] + self.pm_services_ext)
self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ic_pm_services + self.pm_services_ext)
self.steer_limited_by_safety = False
self.curvature = 0.0