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must generate cp_sp!

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This commit is contained in:
Jason Wen
2025-01-21 17:16:55 -05:00
parent ca11e59739
commit 3a00312759
3 changed files with 9 additions and 11 deletions
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selfdrive/controls/controlsd.py
+3 -8
View File
@@ -1,5 +1,4 @@
#!/usr/bin/env python3
import os
import math
from typing import SupportsFloat
@@ -27,7 +26,6 @@ LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
REPLAY = "REPLAY" in os.environ
class Controls:
def __init__(self) -> None:
@@ -36,12 +34,9 @@ class Controls:
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
cloudlog.info("controlsd got CarParams")
if not REPLAY:
cloudlog.info("controlsd is waiting for CarParamsSP")
self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
cloudlog.info("controlsd got CarParamsSP")
else:
self.CP_SP = None
cloudlog.info("controlsd is waiting for CarParamsSP")
self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
cloudlog.info("controlsd got CarParamsSP")
self.CI = get_car_interface(self.CP, self.CP_SP)
selfdrive/selfdrived/selfdrived.py
+1 -1
View File
@@ -60,7 +60,7 @@ class SelfdriveD(CruiseHelper):
else:
self.CP = CP
if CP_SP is None and not REPLAY:
if CP_SP is None:
cloudlog.info("selfdrived is waiting for CarParamsSP")
self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
cloudlog.info("selfdrived got CarParamsSP")
selfdrive/test/process_replay/process_replay.py
+5 -2
View File
@@ -23,7 +23,7 @@ from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.timeout import Timeout
from openpilot.common.realtime import DT_CTRL
from panda.python import ALTERNATIVE_EXPERIENCE
from openpilot.selfdrive.car.card import can_comm_callbacks
from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
from openpilot.system.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -344,6 +344,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
if fingerprint:
CarInterface, _, _, _ = interfaces[fingerprint]
CP = CarInterface.get_non_essential_params(fingerprint)
CP, CP_SP = CarInterface.get_non_essential_params_sp(CP, fingerprint)
else:
can = DummySocket()
sendcan = DummySocket()
@@ -364,12 +365,14 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = _cached_params
CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
_CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
CP, CP_SP = _CI.CP, _CI.CP_SP
if not params.get_bool("DisengageOnAccelerator"):
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
params.put("CarParams", CP.to_bytes())
params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
def selfdrived_rcv_callback(msg, cfg, frame):