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This commit is contained in:
Jason Wen
2024-09-29 11:28:27 -04:00
parent 18a237c0c0
commit bd19439a4c
1 changed files with 5 additions and 4 deletions
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selfdrive/car/card.py
+5 -4
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@@ -118,6 +118,11 @@ class Car:
self.CP.alternativeExperience = 0
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
# mads
self.mads_enabled_toggle = True # TODO-SP: Apply with toggle
data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
self.CP.alternativeExperience |= ModifiedAssistDrivingSystem(self).set_alternative_experience()
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@@ -155,10 +160,6 @@ class Car:
# card is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
self.mads_enabled_toggle = True # TODO-SP: Apply with toggle
def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
"""carState update loop, driven by can"""