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card: preparation (#32382)

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* card prep

* also format
This commit is contained in:
Shane Smiskol
2024-05-08 23:54:20 -07:00
committed by GitHub
parent 273a4f5ca9
commit 2e6b2ef3c9
3 changed files with 3 additions and 9 deletions
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selfdrive/car/card.py
+2 -5
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@@ -15,7 +15,6 @@ from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.interfaces import CarInterfaceBase
REPLAY = "REPLAY" in os.environ REPLAY = "REPLAY" in os.environ
@@ -28,7 +27,7 @@ class CarD:
self.sm = messaging.SubMaster(['pandaStates']) self.sm = messaging.SubMaster(['pandaStates'])
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
self.can_rcv_timeout_counter = 0 # conseuctive timeout count self.can_rcv_timeout_counter = 0 # consecutive timeout count
self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count
self.CC_prev = car.CarControl.new_message() self.CC_prev = car.CarControl.new_message()
@@ -54,12 +53,11 @@ class CarD:
if not disengage_on_accelerator: if not disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
car_recognized = self.CP.carName != 'mock'
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly self.CP.passive = not controller_available or self.CP.dashcamOnly
if self.CP.passive: if self.CP.passive:
safety_config = car.CarParams.SafetyConfig.new_message() safety_config = car.CarParams.SafetyConfig.new_message()
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
@@ -139,4 +137,3 @@ class CarD:
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid)) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
self.CC_prev = CC self.CC_prev = CC
selfdrive/car/mock/interface.py
+1
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@@ -18,6 +18,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.70 ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. ret.steerRatio = 13.
ret.dashcamOnly = True
return ret return ret
def _update(self, c): def _update(self, c):
selfdrive/controls/controlsd.py
-4
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@@ -111,7 +111,6 @@ class Controls:
if not self.CP.openpilotLongitudinalControl: if not self.CP.openpilotLongitudinalControl:
self.params.remove("ExperimentalMode") self.params.remove("ExperimentalMode")
self.CC = car.CarControl.new_message()
self.CS_prev = car.CarState.new_message() self.CS_prev = car.CarState.new_message()
self.AM = AlertManager() self.AM = AlertManager()
self.events = Events() self.events = Events()
@@ -805,9 +804,6 @@ class Controls:
cc_send.carControl = CC cc_send.carControl = CC
self.pm.send('carControl', cc_send) self.pm.send('carControl', cc_send)
# copy CarControl to pass to CarInterface on the next iteration
self.CC = CC
def step(self): def step(self):
start_time = time.monotonic() start_time = time.monotonic()