From 3ade8d64acefa2113f929211206beac27e4eb04c Mon Sep 17 00:00:00 2001 From: "Mr.one" Date: Tue, 7 Jul 2026 10:17:25 +0800 Subject: [PATCH] =?UTF-8?q?=E7=BC=96=E8=BE=91controlsd.py?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/controls/controlsd.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 2bc2f92ca..40baf7826 100644 --- a/selfdrive/controls/controlsd.py +++ b/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