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add clarity and chronological order.

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This commit is contained in:
discountchubbs
2025-03-26 07:50:14 -07:00
parent 840c383833
commit 69cd4f5065
2 changed files with 16 additions and 16 deletions
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selfdrive/car/card.py
+1 -1
View File
@@ -112,7 +112,7 @@ class Car:
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
self.CP = self.CI.CP
self.CP_SP = self.CI.CP_SP
self.CI.apply_longitudinal_tuning(self.CI.CP, self.CI.CP_SP)
# continue onto next fingerprinting step in pandad
self.params.put_bool("FirmwareQueryDone", True)
else:
sunnypilot/selfdrive/car/interfaces.py
+15 -15
View File
@@ -39,20 +39,6 @@ def initialize_custom_longitudinal_tuning(CP: structs.CarParams, CP_SP: structs.
CP_SP.flags |= HyundaiFlagsSP.LONGTUNING_BRAKING.value
def initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
if params is None:
params = Params()
if CP.brand == 'hyundai':
if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
# Having this automatic without a toggle causes a weird process replay diff because
# somehow it sees fewer logs than intended
if params.get_bool("HyundaiRadarTracksToggle"):
CP_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
if params.get_bool("HyundaiRadarTracks"):
CP.radarUnavailable = False
def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
enabled: bool = False) -> None:
if params is None:
@@ -74,10 +60,24 @@ def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: stru
CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
def initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
if params is None:
params = Params()
if CP.brand == 'hyundai':
if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
# Having this automatic without a toggle causes a weird process replay diff because
# somehow it sees fewer logs than intended
if params.get_bool("HyundaiRadarTracksToggle"):
CP_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
if params.get_bool("HyundaiRadarTracks"):
CP.radarUnavailable = False
def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
initialize_custom_longitudinal_tuning(CP, CP_SP, params)
initialize_radar_tracks(CP, CP_SP, params)
initialize_neural_network_lateral_control(CP, CP_SP, params)
initialize_radar_tracks(CP, CP_SP, params)
def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,