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plannerd: check all services for validity (#38341)

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* longitudinal planner: carControl must be valid

* plannerd: check all services for validity
This commit is contained in:
Adeeb Shihadeh
2026-07-14 20:40:15 -07:00
committed by GitHub
parent 45661ee8c0
commit a9ffebe96e
2 changed files with 2 additions and 2 deletions
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openpilot/selfdrive/controls/lib/longitudinal_planner.py
+1 -1
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@@ -150,7 +150,7 @@ class LongitudinalPlanner:
def publish(self, sm, pm):
plan_send = messaging.new_message('longitudinalPlan')
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
plan_send.valid = sm.all_checks()
longitudinalPlan = plan_send.longitudinalPlan
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
openpilot/selfdrive/controls/plannerd.py
+1 -1
View File
@@ -30,7 +30,7 @@ def main():
ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
msg = messaging.new_message('driverAssistance')
msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
msg.valid = sm.all_checks()
msg.driverAssistance.leftLaneDeparture = ldw.left
msg.driverAssistance.rightLaneDeparture = ldw.right
pm.send('driverAssistance', msg)