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This commit is contained in:
royjr
2026-07-15 18:42:44 -04:00
parent 05dbbc4831
commit 10f2392fc4
3 changed files with 20 additions and 1 deletions
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cereal/custom.capnp
+9
View File
@@ -371,6 +371,15 @@ struct CarControlSP @0xa5cd762cd951a455 {
leadOne @2 :LeadData;
leadTwo @3 :LeadData;
intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
radarTracks @5 :List(RadarTrack);
radarTracksActive @6 :Bool;
struct RadarTrack {
trackId @0 :UInt64;
dRel @1 :Float32;
yRel @2 :Float32;
vRel @3 :Float32;
}
struct Param {
key @0 :Text;
selfdrive/car/helpers.py
+1
View File
@@ -60,6 +60,7 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
# 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', {})))
struct_dataclass.radarTracks = [structs.CarControlSP.RadarTrack(**track) for track in struct_dict.get('radarTracks', [])]
struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
**remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
)
sunnypilot/selfdrive/controls/controlsd_ext.py
+10 -1
View File
@@ -31,7 +31,7 @@ class ControlsExt(ModelStateBase):
self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
cloudlog.info("controlsd_ext got CarParamsSP")
self.sm_services_ext = ['radarState', 'selfdriveStateSP']
self.sm_services_ext = ['radarState', 'selfdriveStateSP', 'liveTracks']
self.pm_services_ext = ['carControlSP']
def initialize_lateral_control(self, lac, CI, dt):
@@ -91,6 +91,15 @@ class ControlsExt(ModelStateBase):
self.get_lead_data(CC_SP.leadOne, sm['radarState'].leadOne)
self.get_lead_data(CC_SP.leadTwo, sm['radarState'].leadTwo)
live_tracks = sm['liveTracks']
CC_SP.radarTracksActive = sm.valid['liveTracks'] and len(live_tracks.trackSources) > 0
radar_tracks = CC_SP.init('radarTracks', len(live_tracks.points) if CC_SP.radarTracksActive else 0)
for dst, src in zip(radar_tracks, live_tracks.points, strict=True):
dst.trackId = src.trackId
dst.dRel = src.dRel
dst.yRel = src.yRel
dst.vRel = src.vRel
# MADS state
mads_src = sm['selfdriveStateSP'].mads
CC_SP.mads.state = mads_src.state