diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index bbdbb9fcc..7cd01e161 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -14,7 +14,7 @@ class SimulatedCar: def __init__(self): self.pm = messaging.PubMaster(['can', 'pandaStates']) - self.sm = messaging.SubMaster(['carControl', 'controlsState']) + self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams']) self.cp = self.get_car_can_parser() self.idx = 0 @@ -93,6 +93,7 @@ class SimulatedCar: self.pm.send('can', can_list_to_can_capnp(msg)) def send_panda_state(self, simulator_state): + self.sm.update(0) dat = messaging.new_message('pandaStates', 1) dat.valid = True dat.pandaStates[0] = { @@ -100,6 +101,7 @@ class SimulatedCar: 'pandaType': "blackPanda", 'controlsAllowed': True, 'safetyModel': 'hondaNidec', + 'alternativeExperience': self.sm["carParams"].alternativeExperience } self.pm.send('pandaStates', dat)