编辑controlsd.py

selfdrive/controls/controlsd.py

@@ -100,8 +100,8 @@ class Controls:
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
     ignore = self.sensor_packets + ['testJoystick']
-    if SIMULATION:
-      ignore += ['driverCameraState', 'managerState']
+    if True:
+      ignore += ['driverCameraState', 'managerState', 'driverMonitoringState']
     if REPLAY:
       # no vipc in replay will make them ignored anyways
       ignore += ['roadCameraState', 'wideRoadCameraState']
@@ -361,7 +361,7 @@ class Controls:
     else:
       if not SIMULATION and not self.rk.lagging:
         if not self.sm.all_alive(self.camera_packets):
-          self.events.add(EventName.cameraMalfunction)
+          pass#self.events.add(EventName.cameraMalfunction)
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
@@ -380,11 +380,11 @@ class Controls:
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
     if not self.sm.all_checks() and no_system_errors:
       if not self.sm.all_alive():
-        self.events.add(EventName.commIssue)
+        pass#self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
         self.events.add(EventName.commIssueAvgFreq)
       else:
-        self.events.add(EventName.commIssue)
+        pass#self.events.add(EventName.commIssue)
 
       logs = {
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
@@ -409,7 +409,7 @@ class Controls:
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
     if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
-      self.events.add(EventName.sensorDataInvalid)
+      pass#self.events.add(EventName.sensorDataInvalid)
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
@@ -440,7 +440,7 @@ class Controls:
     if not SIMULATION or REPLAY:
       # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
       if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1500):
-        self.events.add(EventName.noGps)
+        pass#self.events.add(EventName.noGps)
       if self.sm['liveLocationKalman'].gpsOK:
         self.distance_traveled = 0
       self.distance_traveled += CS.vEgo * DT_CTRL