From 43b4e4e27150fb4e3235145651dad1d9e7725dc1 Mon Sep 17 00:00:00 2001 From: discountchubbs Date: Thu, 6 Nov 2025 12:17:52 -0800 Subject: [PATCH] check packets in selfdrived --- selfdrive/selfdrived/selfdrived.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 3bc616fb04..4e599d34ca 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -88,7 +88,7 @@ class SelfdriveD(CruiseHelper): # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches self.car_state_sock = messaging.sub_sock('carState', timeout=20) - ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP'] + ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP'] + ['navigationd'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] if REPLAY: @@ -98,8 +98,8 @@ class SelfdriveD(CruiseHelper): 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback', - 'modelDataV2SP', 'longitudinalPlanSP'] + \ - self.camera_packets + self.sensor_packets + self.gps_packets, + 'modelDataV2SP', 'longitudinalPlanSP', 'navigationd'] + \ + self.camera_packets + self.sensor_packets + self.gps_packets, ignore_alive=ignore, ignore_avg_freq=ignore, ignore_valid=ignore, frequency=int(1/DT_CTRL)) @@ -293,7 +293,7 @@ class SelfdriveD(CruiseHelper): if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: direction = self.sm['modelV2'].meta.laneChangeDirection if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ - (CS.rightBlindspot and direction == LaneChangeDirection.right): + (CS.rightBlindspot and direction == LaneChangeDirection.right): self.events.add(EventName.laneChangeBlocked) else: if direction == LaneChangeDirection.left: @@ -301,7 +301,7 @@ class SelfdriveD(CruiseHelper): else: self.events.add(EventName.preLaneChangeRight) elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, - LaneChangeState.laneChangeFinishing): + LaneChangeState.laneChangeFinishing): self.events.add(EventName.laneChange) # Handle lane turn @@ -496,7 +496,7 @@ class SelfdriveD(CruiseHelper): # All pandas not in silent mode must have controlsAllowed when openpilot is enabled if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates'] - if ps.safetyModel not in IGNORED_SAFETY_MODES): + if ps.safetyModel not in IGNORED_SAFETY_MODES): self.mismatch_counter += 1 return CS