From 4a9894d843e267323f7b4e0b68c4fd34bbf4f32d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 6 Sep 2024 02:33:02 -0400 Subject: [PATCH] logging --- .../controllers.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py index c62f59c578..363aa4944b 100644 --- a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py +++ b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py @@ -58,6 +58,15 @@ class CustomStockLongitudinalControllerBase(ABC): self.button_mappings = self.get_button_mappings() + # copy for logs in interface update + def update_logs(self): + self.car_controller.cruise_button = self.cruise_button + self.car_controller.final_speed_kph = self.final_speed_kph + self.car_controller.target_speed = self.target_speed + self.car_controller.v_set_dis = self.v_set_dis + self.car_controller.speed_diff = self.speed_diff + self.car_controller.button_type = self.button_type + # multikyd methods, sunnypilot logic def get_cruise_buttons_status(self, CS): if not CS.out.cruiseState.enabled or self.get_set_speed_buttons(CS): @@ -173,6 +182,9 @@ class CustomStockLongitudinalControllerBase(ABC): self.final_speed_kph = target_speed_kph cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses + + self.update_logs() + return cruise_button @abstractmethod